一种新的并联机器人精度标定算法  

A New Calibration Method of Parallel Robot

作　　者：余杰先 吴朋[1] 曾奇[1] 

机构地区：[1]广东工业大学机电工程学院,广东广州510006

出　　处：《机电工程技术》2014年第4期14-17,共4页Mechanical & Electrical Engineering Technology

摘　　要：提出了一种新的并联机器人精度标定算法,较之于传统的借助与激光跟踪仪的测量标定方法,该标定算法只需测量获得z轴方向的单项位置误差,即可进行参数误差识别,忽略了用激光跟踪仪测量时,安装靶球带来的制造、装配误差,能有效地提高并联机器人的标定精度。对该算法进行了推导以及Matlab仿真实验。This paper proposed a new method for calibration of a delta robot, tried to avoid measuring the position of mobile platform, which could bring in manufacturing and assembling deviation. The method proposed just need to measure a single direction deviation, like that along the Z axis direction, which is quite simple to measure. Despite of this, deduced this method and have done it＇s simulation within Matlab.

关 键 词：并联机器人 标定 算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]