基于机器视觉的3自由度并联平台标定试验研究  

Calibration experiment research of 3 DOF parallel platform based machine vision

作　　者：贺振兴[1] 张宪民[1] 邝泳聪[1] 梁经伦[1] 陈家钊[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《机械设计》2012年第3期32-36,共5页Journal of Machine Design

基　　金：国家杰出青年科学基金资助项目(50825504);中央高校基本科研业务费专项资金资助项目(2009ZM0073/2009ZM0132);粤港关键领域重点突破招标项目(东莞专项200816822)

摘　　要：为了提高并联平台的运动精度,以锡膏印刷机3自由度并联平台为研究对象,基于机器视觉提出了一种运动学标定修正系统输入的补偿方法。给出了平台理论分析模型,利用运动学逆解方程推导出误差函数,通过机器视觉对平台标识点进行测量并记录平台运动的实际位姿,根据标定结果对理论控制模型进行补偿。试验结果表明,该标定补偿方法有效地提高了并联平台的运动精度。In order to increase the accuracy of the parallel ki- nematics platform, by taking the 3 DOF parallel platform of solder paste printer as research target, a compensation method of kinemat- ics calibration for correcting system input is proposed based on ma- chine vision. First, the theoretic analysis model of the platform was provided, and the error function was established by using inverse kinematics solution. The identification points of the platform weremeasured through machine vision and the actual poses of the plat- form during applications were recorded, the theoretic control model was compensated according to the calibration results. The experiment results demonstrate that the compensation method can improve the accuracy of the parallel kinematics platform reasonably and effectively.

关 键 词：机器视觉 并联平台 误差模型 运动学标定 

分 类 号：TH122[机械工程—机械设计及理论]