一种三自由度并联机构的运动学标定  

Kinematics calibration of A 3-DOF parallel mechanism

作　　者：辛秀梅[1] 沈惠平[1] 王平玲[1] 

机构地区：[1]江苏工业学院机械工程系,常州213016

出　　处：《机械设计与制造》2007年第7期38-40,共3页Machinery Design & Manufacture

摘　　要：以一种三自由度并联机构测量机为研究对象,给出了机构的正解运动学模型,在此基础上阐述了运动学标定方法,给出了标定步骤,通过计算机编程对其进行了参数辨识。对标定前后的运动学参数与实际值进行了比较,标定前后的测头误差也进行了比较,从而验证了标定方法的正确可行性。First, a 3-dofparallel mechanical measuring machine is addressed .Then the forward kinematics solution is given ,the kinematics calibrating method and calibrating steps are developed. Parameters identification is ob tained by computer programming.Last,the parameters of before and after calibration arecompared with the real values,and the error of the measuring head after calibration is compared with that ofbefore calibration. So the feasibility of the calibration method get validated.

关 键 词：并联机构 参数标定 位置坐标 迭代算法 

分 类 号：TH12[机械工程—机械设计及理论]