• 论文 •

### 6PUS并联机构的运动学整机标定

1. 北京航空航天大学 机械工程及自动化学院, 北京 100083
• 收稿日期:2015-05-25 出版日期:2016-05-20 发布日期:2015-12-08
• 通讯作者: 王丹,E-mail:wangpick@163.com E-mail:wangpick@163.com
• 作者简介:樊锐 男,博士,教授。主要研究方向:数控技术、传感器技术、机电控制及自动化。E-mail:fanrui@buaa.edu.cn;王丹 男,博士,讲师。主要研究方向:并联机构理论与装备。E-mail:wangpick@163.com
• 基金资助:
国家自然科学基金(51305013)

### Integral kinematic calibration of 6PUS parallel mechanism

FAN Rui, LI Xi, WANG Dan

1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
• Received:2015-05-25 Online:2016-05-20 Published:2015-12-08

Abstract: Firstly, the error Jacobi matrix of 54 parameters including the centers of U-joints and S-joints, the length of each link and the guide's position vectors was derived for the target 6PUS parallel mechanism. And the calibration model was established based on least squares method in MATLAB. The correctness of Jacobi matrix and the validity of the identification method using least squares method can be proved with MATLAB simulation. Secondly, the poses were selected based on orthogonal experiment and the integral mechanism calibration experiment was carried out by a laser tracker. The 54 parameter data were obtained through parameter identification using calibration model in MATLAB based on the calibrated results. Finally, the calibrated consequence can be obtained through error compensation. The results show that after compensation, in one direction, the maximum position error of the target mechanism is 0.030 mm and the maximum angle error is 0.0007 rad, while in three directions, the maximum position error of the target mechanism is 0.046 mm and the maximum angle error is 0.0008 rad. Therefore, we did a significant improvement in kinematic precision by integral mechanism calibration.