| 三自由度并联姿态测量机构及其位姿显式解 |
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| 引用本文： | 余晓流,潘紫微,储刘火,钱方美.三自由度并联姿态测量机构及其位姿显式解[J].安徽工业大学学报,2003,20(1):35-37,44. |
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| 作者姓名： | 余晓流 潘紫微 储刘火 钱方美 |
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| 作者单位： | [1]安徽工业大学机械工程学院，安徽马鞍山243000 [2]马鞍山市政工程管理处，安徽马鞍山243000 |
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| 基金项目： | 安徽省政府十五攻关项目(01012052)，安徽省教育厅重点资助项目(KJ057ZD) |
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| 摘 要： | 考虑到串联结构的六自由度位姿仪在对被测物体进行位姿综合测量时存在的误差累积，影响测量精度，提出并联结构的三自由度姿态测量装置，将其连接到三自由度串联结构位置测量仪的末端来实现被测物体六个自由度的综合测量。通过机构综合来克服并联机构正解困难，经推导得出被测物体姿态的显式解，从而缩短了计算时间，大大提高了测量效率。测量精度分析为三自由度并联结构姿态测量机构设计奠定了基础。
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| 关 键 词： | 三自由度并联姿态测量机构 位姿显式解 并联机床 并联机构 测量仪 并联结构 |
| 文章编号： | 1671-7872(2003)01-0035-03 |
The mechanism of parallel mechanism for orientation measurement with 3-DOF and its explicit formulation |
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| YU Xiao -liu ,PAN Zi -wei ,CHU Liu -huo ,QIAN Fang -mei.The mechanism of parallel mechanism for orientation measurement with 3-DOF and its explicit formulation[J].Journal of Anhui University of Technology,2003,20(1):35-37,44. |
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| Authors: | YU Xiao -liu PAN Zi -wei CHU Liu -huo QIAN Fang -mei |
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| Affiliation: | YU Xiao -liu 1,PAN Zi -wei 1,CHU Liu -huo 1,QIAN Fang -mei 2 |
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| Abstract: | When serial mechanism instrument wi th 6-DOF is used to measure the positi on and orientation of par-allel machine tool,error accumulation is always expected.So put forward a parallel measurement mechanism w ith3-DOF.It can be connected with position measurement apparatus to measur e full 6-DOF of parallel machine tool.Considering solution difficu lty of parallel mechanism,the expli cit formulation of parallel machine tool's orien-tation available by mechanism synth esis.So computing time can be shorte ned and measuring is efficient.The d esign of the parallel measurement mechani sm with 3-DOF should be based on analy sis of measuring accuracy. |
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| Keywords: | parallel machine tool measuremen t mechanism parallel mechanism orientation measurement |
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