| 一种三自由度并联机构的运动学标定 |
| |
| 引用本文： | 辛秀梅,沈惠平,王平玲.一种三自由度并联机构的运动学标定[J].机械设计与制造,2007(7):38-40. |
| |
| 作者姓名： | 辛秀梅 沈惠平 王平玲 |
| |
| 作者单位： | 江苏工业学院,机械工程系,常州,213016 |
| |
| 摘 要： | 以一种三自由度并联机构测量机为研究对象,给出了机构的正解运动学模型,在此基础上阐述了运动学标定方法,给出了标定步骤,通过计算机编程对其进行了参数辨识.对标定前后的运动学参数与实际值进行了比较,标定前后的测头误差也进行了比较,从而验证了标定方法的正确可行性.
|
| 关 键 词： | 并联机构 参数标定 位置坐标 迭代算法 三自由度并联机构 动学标定 parallel mechanism calibration 验证 误差 比较 实际值 参数辨识 计算机编程 标定方法 运动学 阐述 学模型 正解 对象 研究 测量机 |
| 文章编号： | 1001-3997（2007）07-0038-02 |
| 修稿时间： | 2006-11-17 |
Kinematics calibration of A 3-DOF parallel mechanism |
| |
| XIN Xiu-mei,SHEN Hui-ping,WANG Ping-ling.Kinematics calibration of A 3-DOF parallel mechanism[J].Machinery Design & Manufacture,2007(7):38-40. |
| |
| Authors: | XIN Xiu-mei SHEN Hui-ping WANG Ping-ling |
| |
| Affiliation: | Department of Mechanical Engineering,Jiangsu Polytechnic University,Changzhou 213016,China |
| |
| Abstract: | First, a 3-dofparallel mechanical measuring machine is addressed .Then the forward kinematics solution is given ,the kinematics calibrating method and calibrating steps are developed. Parameters identification is ob tained by computer programming.Last,the parameters of before and after calibration arecompared with the real values,and the error of the measuring head after calibration is compared with that ofbefore calibration. So the feasibility of the calibration method get validated. |
| |
| Keywords: | Parallel mechanisms Parameters calibration Position coordinate Repeatedly arithmetic |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
