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6PUS并联机构的运动学整机标定

樊锐 李茜 王丹

樊锐, 李茜, 王丹等 . 6PUS并联机构的运动学整机标定[J]. 北京航空航天大学学报, 2016, 42(5): 871-877. doi: 10.13700/j.bh.1001-5965.2015.0331
引用本文: 樊锐, 李茜, 王丹等 . 6PUS并联机构的运动学整机标定[J]. 北京航空航天大学学报, 2016, 42(5): 871-877. doi: 10.13700/j.bh.1001-5965.2015.0331
FAN Rui, LI Xi, WANG Danet al. Integral kinematic calibration of 6PUS parallel mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(5): 871-877. doi: 10.13700/j.bh.1001-5965.2015.0331(in Chinese)
Citation: FAN Rui, LI Xi, WANG Danet al. Integral kinematic calibration of 6PUS parallel mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(5): 871-877. doi: 10.13700/j.bh.1001-5965.2015.0331(in Chinese)

6PUS并联机构的运动学整机标定

doi: 10.13700/j.bh.1001-5965.2015.0331
基金项目: 国家自然科学基金(51305013)
详细信息
    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

    通讯作者:

    王丹,E-mail:wangpick@163.com

  • 中图分类号: TH113

Integral kinematic calibration of 6PUS parallel mechanism

  • 摘要: 首先建立了6PUS并联机构包括虎克铰铰链点、球铰铰链点、杆长以及导轨方向向量在内的54结构参数的误差雅可比矩阵。在MATLAB中使用最小二乘法建立了其标定模型,通过仿真验证了雅可比矩阵的正确性和最小二乘法参数辨识的有效性。其次采用正交试验选取位姿,用激光跟踪仪进行整机标定实验。根据标定结果,在MATLAB中采用建立的标定模型进行参数辨识,得到54结构参数。最后进行误差补偿,观察标定补偿效果。该整机标定可使单方向最大位置误差在0.030 mm,最大姿态误差在0.0007 rad;三方向最大位置误差在0.046 mm,最大姿态误差在0.0008 rad。由标定效果可知,整机标定可明显地提高运动学精度。

     

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出版历程
  • 收稿日期:  2015-05-25
  • 刊出日期:  2016-05-20

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