并联机床的运动学标定  

Kinematic Calibration of Parallel Kinematic Machine Tool

作　　者：李铁民[1] 张京雷 李逢春[1] 

机构地区：[1]清华大学机械工程系,北京100084

出　　处：《航空制造技术》2016年第6期41-46,共6页Aeronautical Manufacturing Technology

基　　金：国家科技重大专项资助项目(2015ZX04001002);国家自然科学基金资助项目(51275260)

摘　　要：并联机床具有刚度高、动态性能好、加工效率高等特点,已在大型航空结构件的加工等领域得到了成功应用。运动学标定是并联机床重要的精度保证手段之一。本文从误差建模、位姿测量、误差辨识及误差补偿等方面介绍了并联机床的运动学标定方法,并具体介绍了一台国产并联机床的运动学标定试验及相关研究。With the advantages of high rigidity, good dynamic characteristics and high efficiency, parallel kinematic machine tools have been applied successfully in the machining of large aviation structure. Kinematic calibration is one of the important means to guarantee the accuracy of parallel kinematic machine tool. This paper introduces kinematic calibra-tion methods of parallel kinematic machine tool, including error modeling, pose measurement, error identification and errorcompensation, and additionally focuses on the calibration experiment and the relevant research of a domestic parallel kine-matic machine tool.

关 键 词：并联机床 运动学标定 混联机床 

分 类 号：V261[航空宇航科学与技术—航空宇航制造工程]