| 可移动六自由度并联机构的位姿参数辨识及误差分析 |
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| 引用本文： | 延皓,李长春,孙会鹏.可移动六自由度并联机构的位姿参数辨识及误差分析[J].兵工学报,2012,33(10):1276-1280. |
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| 作者姓名： | 延皓 李长春 孙会鹏 |
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| 作者单位： | 北京交通大学机械与电子控制工程学院,北京,100044;北京交通大学机械与电子控制工程学院,北京,100044;北京交通大学机械与电子控制工程学院,北京,100044 |
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| 摘 要： | 针对可移动的空间六自由度并联机构的位姿辨识问题，通过测量多种位姿状态下运动平台上任意一个测量点的绝对坐标，构建运动学方程组并进行优化求解，实现了未知方位的并联机构位姿参数辨识以及测量点在动系中的坐标辨识，再根据测量点的目标位置，求解出各驱动杆的调整量，从而实现并联机构位姿的运动控制。采用Trust-Region Dogleg优化算法实现了冗余方程的求解，并且通过实验进行了验证。仿真和实验表明，对测量点坐标的辨识精度高于对并联机构自身位置的辨识精度。当并联机构自身运动误差不大于0.02 mm时，运用此方法并联机构在绝对坐标系中的定位误差能够控制在0.3 mm以内。
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| 关 键 词： | 自动控制技术 六自由度 可移动并联机构 位姿辨识 |
Configuration Parameter Identification and Error Analysis of Mobile 6-DOF Parallel Mechanism |
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| YAN Hao
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LI Chang-chun
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SUN Hui-peng.Configuration Parameter Identification and Error Analysis of Mobile 6-DOF Parallel Mechanism[J].Acta Armamentarii,2012,33(10):1276-1280. |
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| Authors: | YAN Hao LI Chang-chun SUN Hui-peng |
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| Affiliation: | (School of Mechanical and Electronic Control Engineering， Beijing Jiaotong University， Beijing 100044, China) |
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| Abstract: | To solve the configuration identification problem of mobile 6-DOF parallel mechanisms, the absolute coordinates of an arbitrary measuring point were measured under various configuration conditions, and a system of kinematics equations was built and solved optimally to identify the configuration parameters of a parallel mechanism at an unknown location and compute the coordinates of the measuring point. The adjustment value of each actuator can be obtained according to the target coordinates of measuring point. Consequently the motion control of parallel mechanism can be performed. The redundant equations were solved by using Trust-Region Dogleg algorithm，and the validity of this method was confirmed by experiment. The simulation and experiment show that the identification accuracy of measuring point is higher than that of parallel mechanism location. When the movement error of the parallel mechanism is no more than 0.02mm, its positioning error in the absolute coordinate system can be limited within 0.3mm using this method. |
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| Keywords: | automatic control technology 6-DOF mobile parallel mechanism configuration identification |
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