3PSU/PU并联机构的误差建模及实验验证  

Error model and calibration experiment of 3PSU/PU parallel mechanism

作　　者：王进[1] 何适[2] 王丹[1] 樊锐[1] 陈五一[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191 [2]国网湖北省电力公司技术培训中心,湖北武汉430079

出　　处：《制造技术与机床》2017年第3期28-33,共6页Manufacturing Technology & Machine Tool

基　　金：国家自然科学基金资助课题(51305013)

摘　　要：首先对3PSU/PU三自由度并联机构进行了结构分析和坐标系建立,在此基础上推导出43项结构参数的误差模型。给定结构参数误差,采用误差模型以及牛顿迭代法分别计算末端位姿,通过比较两组位姿对误差模型进行数值方法验证。最后对机构进行运动学标定和误差补偿实验,其间涉及机构的位姿测量、参数辨识以及误差对比,并观察总结实验结果。通过分析、数值方法和实验验证了所建立的3PSU/PU机构误差模型的正确性。The structure of 3-DOF 3PSU/PU parallel mechanism was analyzed and the coordinate system was established and the error model including 43 parameters was derived. Based on the given parameter error,the error model and the Newton iteration method were used to get the pose of the end effector. Numerical validation was carried out by comparing the two groups of pose. Finally,the calibration experiment was carried out,which involved the pose measurement,parameter identification and error comparison of the mechanism,and the experimental results were summarized. By means of analysis,numerical method and experiment,it was proved that the error model of 3PSU/PU mechanism was correct.

关 键 词：并联机构 少自由度 误差建模 标定 

分 类 号：TH113[机械工程—机械设计及理论]