并联六自由度机构运动学与动力学标定对比

Comparison of dynamic and kinematic calibrations for the 6-DOF parallel mechanism

为了研究并联六自由度机构不同标定方法的适用性，依据运动学标定和动力学标定，分别建立了并联六自由度机构的标定模型，并通过数值仿真对标定效果进行对比分析。结果表明：运动学标定方法对提高机构运动正解精度更为有效，正解误差比动力学标定的结果小4．9％，有利于传统的基于关节空间的并联机构控制策略；动力学标定方法对提高机构动力学模型精度更为有效，关节驱动力误差比运动学标定的结果小5～25N，更适合基于工作空间的并联机构控制策略。

In order to study the usability of different calibration methods for the 6-DOF （ six degrees of freedom） parallel mechanism, calibration models of the mechanism were established on the basis of kinematic and the dynamic calibrations. The comparative analyses of kinematic and the dynamic calibrations were done by the numerical simulation. The results showed that the kinematic calibration is more effective in improving forward solution precision of the mechanism. It is also shown that the forward solution error is 4.9% less than that of the dynamic calibration, which is beneficial to the conventional joint-space control of parallel mechanism. The dynamic calibration is more effective in improving dynamic model precision of the mechanism and joint force error is 5 ~ 25 N less than that of the kinematic calibration, which is suitable for the task-space control strategy of parallel mechanism.