Delta并联机构精度标定方法研究

以Delta并联机构为对象，研究一类含平行四边形支链的3自由度并联机构误差建模技术，所建模型可有效分离出影响末端姿态误差的几何误差源。在此基础上提出一种精度标定方法，该方法利用并联机构操作空间与关节空间非线性映射的性质，仅需检测末端沿z向的位置误差、以及在初始位形下的姿态误差便可识别出几何参数，并可通过修改系统输入实现末端位置误差补偿。给出算例以验证该方法的有效性。

KINEMATIC CALIBRATION OF DELTA ROBOT

: By taking Delta robot as an example, an error modeling technique is developed for the kinematic calibration of a class of 3-DOF translational parallel kinematic machines with parallelogram struts. The model allows the geometric errors affecting the position and orientation accuracy of the end-effector to be separated. Utilizing the properties of parallel kinematic machines, i.e. the pose of the end-effector in the Cartesian space is the non-linear mapping of all servo motions of the actuated variables in the joint space, an effective calibration method is proposed that enables the full set of geometric errors to be identified by only measuring the flatness about the xy plane, the straightness along x(y) axis and the orientation error at the initial configuration. An error compensation strategy is also developed by modifying the ideal input of the system. An example is given to demonstrate the effectiveness of this approach.