基于双目视觉的3-PRS并联机构末端位姿检测方法  

The method to measure the terminal position and pose of 3-PRS parallel mechanism based on binocular vcision system

作　　者：赵俊伟[1] 刘珍珍 黄俊杰[1] 陈国强[1] 代军[1] 

机构地区：[1]河南理工大学机械与动力工程学院,河南焦作454000

出　　处：《制造技术与机床》2018年第1期101-106,共6页Manufacturing Technology & Machine Tool

基　　金：河南省科技攻关项目(172102310664;132102210430);河南省高等学校青年骨干教师资助计划项目(2015CCJS-244);河南省高等学校重点科研项目(17A460015)

摘　　要：由于传统接触式测量存在测量受力等因素容易引起测量精度不稳定,提出了一种基于视差原理的3-PRS并联机构末端位姿测量方法。首先建立了双目视觉测量模型,在动平台上人工设置4个标志点,末端位姿可通过标志点的空间坐标进行描述;其次构建标志点坐标与动平台末端位姿间的数学模型,实现对末端位姿检测;最后运用数值方法求解末端位姿,并与运动学正解方法得到的末端位姿进行比较。结果表明采用非接触式测量方法适用于3-PRS并联机构的末端位姿检测且精度高。Due to the existence of measuring force and other factors in traditional contact measurement, it is easy to cause the instability of measurement accuracy. A terminal position and pose measurement method of 3- PRS parallel mechanism based on parallax principle is proposed. Firstly, the binocular vision measure- ment model was built bymanually, set 4 mark points on the moving platform, the terminal position and pose can be described by the spatial coordinates of the landmarks; secondly, the mathematical model between the coordinate of the landmarks and the terminal position and pose of the moving platform is constructed to realize the detection of the terminal position and pose; finally, the terminal position and pose is solved by numerical method and compared with the terminal position and pose obtained by the positive kinematics method. The results show that the non-contact measurement method is suitable for the detection of the terminal position and pose of the 3-PRS parallel mechanism and the accuracy is high.

关 键 词：末端位姿 双目视觉 3-PRS并联机构 数值方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]