摘要
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 .
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2013年第22期2997-3002,共6页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51275438)
河北省自然科学基金资助项目(E2011203214)
关键词
2自由度
球面机构
标定
D-H变换矩阵
2-DOF
spherical manipulator
calibration
D-H transformation matrix