6-PUS/UPS并联机构运动学标定理论与实验研究  

Theory and experiments on kinematics calibration of a 6-PUS/UPS parallel mechanism

作　　者：梁顺攀[1] 郭联合[1] 段艳宾[1] 侯雨雷[1] 王帅[1] 赵永生[1] 

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《机械设计》2012年第5期21-26,共6页Journal of Machine Design

基　　金：河北省自然科学基金资助项目(E2009000387);秦皇岛市科学技术研究与发展计划资助项目(201001A057)

摘　　要：基于6-PUS/UPS并联机构,首先建立含结构误差的运动学反解模型;使用遗传算法建立其标定模型,通过Matlab编程验证了模型的正确性和有效性;提出了一种利用球杆仪、高度游标卡尺和双轴倾角传感器配合测量动平台位姿的标定方案;最后进行标定实验及误差补偿,提高了该并联机构的精度。In this paper, an inverse kinematics model which includes structural error was built based on 6-PUS/UPS parallel mechanism, its kinematical calibration model was derived by using the genetic algorithm, and the correctness and effectiveness of the model was verified by Matlab programming. An experimental pro- gram was proposed by using ball bar, height vernier caliper and du- al-axis tilt sensor to measure the position and attitude of moving platform. The parallel mechanism accuracy was improved by the ki- nematics calibration experiments and error compensation.

关 键 词：并联机构 运动学标定 误差补偿 遗传算法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]