考虑测量参照物误差对VAMT1Y并联机床的运动标定仿真

Simulation of Kinematic Calibration of Parallel Machine Tool with Dimension and Position Error of Measuring Reference Frame Considered

采用间接测量对 VAMT1Y并联机床进行标定仿真时 ,需要引进标准测量参照物对动平台的位姿进行测量 ,但参照物本身可能存在一定的尺寸误差 ;另外间接测量时要不断变换标准测量参照物的位置 ,又会引进位置误差。为便于解决实际问题 ,将上述误差和待标定的机床的几何误差综合考虑对机床进行了标定仿真。仿真结果表明 。

Standard reference frame are sometimes needed while measuring its position and orientation of end effectors of parallel machine tool, its dimension error and position error must be considered during the measuring process when its position and orientation of standard reference frame is changed. In order to solve practical problem conveniently, kinematic calibration simulation was carried out while all the above errors and the structure errors are unknown. Simulation result shows that the final calibration result will not be affected if the errors due to measurement system are properly considered.