摘要
基于6-PUS/UPS并联机构,首先建立含结构误差的运动学反解模型;使用遗传算法建立其标定模型,通过Matlab编程验证了模型的正确性和有效性;提出了一种利用球杆仪、高度游标卡尺和双轴倾角传感器配合测量动平台位姿的标定方案;最后进行标定实验及误差补偿,提高了该并联机构的精度。
In this paper, an inverse kinematics model which includes structural error was built based on 6-PUS/UPS parallel mechanism, its kinematical calibration model was derived by using the genetic algorithm, and the correctness and effectiveness of the model was verified by Matlab programming. An experimental pro- gram was proposed by using ball bar, height vernier caliper and du- al-axis tilt sensor to measure the position and attitude of moving platform. The parallel mechanism accuracy was improved by the ki- nematics calibration experiments and error compensation.
出处
《机械设计》
CSCD
北大核心
2012年第5期21-26,共6页
Journal of Machine Design
基金
河北省自然科学基金资助项目(E2009000387)
秦皇岛市科学技术研究与发展计划资助项目(201001A057)
关键词
并联机构
运动学标定
误差补偿
遗传算法
parallel mechanism
kinematics calibration
errorcompensation
genetic algorithm
