基于三坐标测量机的球面5R并联机构运动学标定研究

Research on Kinematic Calibration of Spherical 5R Parallel Manipulator Based on Coordinate Measuring Machine

基于D-H参数建立了包含球面5R并联机构全部结构参数的标定用位置反解模型。建立了该机构位置和姿态运动学标定模型,结合实际样机进一步得到了标定简化模型,简化了参数辨识与补偿计算过程。通过三坐标测量机确定了球面机构的近似球心,并以此为原点建立了测量坐标系,从而实现了测量参考系与运动参考系的统一,便于末端执行器位姿的测量。通过标定实验,验证了该方法能够提高球面并联机构的绝对精度。

plied for calibration of spherical 5R parallel manipulator ,and which included all mechanical structure Based on D -H parameter ,inverse position model was established ,which can be ap-parameters .Position and orientation kinematic calibration models of the manipulator were estab-lished ,and a simplified model of calibration was further obtained according to prototype ,which sim-plified computational process of parameter identification and modification .Approximate spherical cen-ter of spherical manipulator was obtained by virtue of coordinate measuring machine ,which was re-garded as origin of coordinate ,one can establish measuring coordinate frame ,which can be regarded as kinematic reference frame ,and the pose of end-effector was obtained easily .Absolute precision of the manipulator is increased by calibration experiments .