三自由度并联姿态测量机构及其运动学参数最优化设计

Optimal Kinematic Parameters of a 3-DOF Parallel Mechanism for Orientation Measurement

提出了基于并联结构的三自由度姿态测量机构,将其连接到三自由度串联结构位置测量装置末端可以实现对被测物体六自由度位姿的综合测量。该测量机构克服了并联机构运动学正解的困难,得到运动平台姿态坐标参数的显式解。建立了基于全微分理论的姿态测量机构坐标参数误差模型,实现机构运动学参数的优化设计。误差因子分析使得机构运动学参数设计更为合理。

An orientation measurement mechanism with 3-DOF was presented. It can be connected with position measurement mechanism to measure the 6 coordinate parameters of robot's end effecter. For difficulties of the forward kinematic analysis of parallel mechanisms, the explicit orientation coordinate parameter formula of the moving platform were given out by mechanism synthesis. The kinematic parameters were optimized according to the error model which was obtained by total differentiation. The preferable kinematic parameters can obtained by analyzing the factors of measuring errors.