平面运动的串联测量方法研究及其与并联方法的比较

提出了用于测量平面运动位姿的三自由度串联和并联测量方法，介绍了串联和并联测量方法的测量原理．通过建立串联测量方法的误差模型，得出了几何误差源与原始测量参数的映射关系和对末端位姿误差的影响情况，得到了这种方法的精度分析结果．仿真结果和试验数据证明了分析的正确性．同时，从几何误差源的产生和测量运动特性等方面对串联和并联测量方法进行了比较．

A Serial Mechanism Method for Planar Movement Measurement and Its Comparison with Parallel Mechanism Method

This paper presents two measurement methods based on 3-DOF serial and parallel mechanisms for the position and attitude measurement of planar movement and introduces the principles of these two methods in detail.Error model of the serial mechanism measurement method is built,mapping relationship between the geometric error sources and the initial measurement parameters is deduced,and their influence on terminal position and attitude errors is obtained.Then the accuracy analysis results of this method are given.The simulation results and the experimental data prove the validity of this method.Furthermore,the comparisons of these two measurement methods are given on some aspects including geometric error sources,measurement motion characteristics,etc.