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基于三坐标测量仪的Stewart平台标定技术
引用本文:延皓,何景风,黄其涛,韩俊伟,李洪人.基于三坐标测量仪的Stewart平台标定技术[J].机床与液压,2007,35(7):11-14,18.
作者姓名:延皓  何景风  黄其涛  韩俊伟  李洪人
作者单位:哈尔滨工业大学机电学院,哈尔滨,150001
摘    要:针对空间对接半物理仿真系统中Stewart平台的运动精度问题,提出一种基于三坐标测量仪的低成本标定方法.利用通用的三坐标测量仪获取运动平台的位姿信息,构造一个统一度量的残差方程,辨识出运动平台的几何参数并进行误差补偿.此方法的特点是能够保证所有几何参数的可辨识性,不再需要设计和加工专门用于标定的各种辅助机构和冗余传感器,具有较强的通用性和可操作性.本文阐述了该标定方法的标定过程,对残差方程的构造方式进行了讨论,仿真表明标定后平台的运动精度能够达到测量噪声的量级.最后将此方法用于某实际运动平台的标定,经过误差补偿后其精度提高了5倍以上.

关 键 词:运动学标定  六自由度运动平台  误差补偿  三坐标测量仪  三坐标测量仪  Stewart  平台  标定技术  Machine  Measuring  Coordinate  精度提高  测量噪声  运动精度  仿真  构造方式  标定过程  阐述  可操作性  通用性  冗余传感器  机构  专门  加工
文章编号:1001-3881(2007)7-011-4
修稿时间:2007-04-16

Calibration of Stewart Platforms Using a Coordinate Measuring Machine
YAN Hao,HE Jingfeng,HUANG Qitao,HAN Junwei,LI Hongren.Calibration of Stewart Platforms Using a Coordinate Measuring Machine[J].Machine Tool & Hydraulics,2007,35(7):11-14,18.
Authors:YAN Hao  HE Jingfeng  HUANG Qitao  HAN Junwei  LI Hongren
Affiliation:The College of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China
Abstract:Aimed at the kinematics accuracy problem of the Stewart platform in the space docking hybrid simulation system, a effective calibration technique with low cost by using a general coordinate measuring machine was presented. The main idea is to acquire the position and orientation information of the platform by the coordinate measuring machine and construct a residual equation with uniform units. Then the geometry parameters of platform can be identified to compensate for its kinematics errors. The advantages of this method are that the identifiability of each geometry- parameter is ensured; no special auxiliary calibration equipments or redundant sensors are required to be designed and manufactured; high adaptability and good operating characteristic are available. The calibration procedure was described and the strategy on constructing the residual equation was discussed, a simulation shows that the kinematics accuracy after calibration can reach the same order of magnitude as measurement noises. Applying this method to an actual Stewart platform, the accuracy improves more than 5 times after compensation.
Keywords:Kinematics calibration  6DOF  Error compensation  CMM
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