| 基于三坐标测量机的球面5R并联机构运动学标定研究 |
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| 引用本文： | 张立杰,李永泉,王艮川. 基于三坐标测量机的球面5R并联机构运动学标定研究[J]. 中国机械工程, 2013, 24(22): 2997-3002 |
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| 作者姓名： | 张立杰 李永泉 王艮川 |
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| 作者单位： | 燕山大学河北省重型机械流体动力传输与控制重点实验室,秦皇岛,066004 |
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| 基金项目： | 国家自然科学基金资助项目（51275438）；河北省自然科学基金资助项目（E2011203214） |
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| 摘 要： | 基于D-H参数建立了包含球面5R并联机构全部结构参数的标定用位置反解模型。建立了该机构位置和姿态运动学标定模型,结合实际样机进一步得到了标定简化模型,简化了参数辨识与补偿计算过程。通过三坐标测量机确定了球面机构的近似球心,并以此为原点建立了测量坐标系,从而实现了测量参考系与运动参考系的统一,便于末端执行器位姿的测量。通过标定实验,验证了该方法能够提高球面并联机构的绝对精度。
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| 关 键 词： | 2自由度 球面机构 标定 D-H变换矩阵 |
Research on Kinematic Calibration of Spherical 5R Parallel Manipulator Based on Coordinate Measuring Machine |
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| Zhang Lijie,Li Yongquan,Wang Genchuan. Research on Kinematic Calibration of Spherical 5R Parallel Manipulator Based on Coordinate Measuring Machine[J]. China Mechanical Engineering, 2013, 24(22): 2997-3002 |
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| Authors: | Zhang Lijie Li Yongquan Wang Genchuan |
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| Affiliation: | Hebei Key Laboratory of Heavy Mechinery Fluid Power Transimission and Control, Yanshan University, Qinhuangdao, Hebei, 066004 |
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| Abstract: | Based on D-H parameter, inverse position model was established, which can be applied for calibration of spherical 5R parallel manipulator, and which included all mechanical structure parameters. Position and orientation kinematic calibration models of the manipulator were established, and a simplified model of calibration was further obtained according to prototype, which simplified computational process of parameter identification and modification. Approximate spherical center of spherical manipulator was obtained by virtue of coordinate measuring machine, which was regarded as origin of coordinate, one can establish measuring coordinate frame, which can be regarded as kinematic reference frame, and the pose of end-effector was obtained easily. Absolute precision of the manipulator is increased by calibration experiments. |
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| Keywords: | 2-DOF spherical manipulator calibration D-H transformation matrix |
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