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Delta并聯(lián)機(jī)構(gòu)正向運(yùn)動(dòng)學(xué)標(biāo)定方法研究
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國(guó)家自然科學(xué)基金資助項(xiàng)目（50975144）和江蘇大學(xué)高級(jí)人才基金資助項(xiàng)目(11JDG044)


Forward Kinematic Calibration of Delta Parallel Mechanism
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    摘要:

    為提高Delta操縱機(jī)構(gòu)位置測(cè)量精度，提出了一種離線參數(shù)辨識(shí)標(biāo)定方法。根據(jù)機(jī)構(gòu)結(jié)構(gòu)和運(yùn)動(dòng)學(xué)模型，對(duì)影響操作端精度的各項(xiàng)誤差源進(jìn)行分析，建立了含誤差參數(shù)的正向運(yùn)動(dòng)學(xué)模型；通過(guò)分析各項(xiàng)誤差源對(duì)操作端位置誤差的影響，發(fā)現(xiàn)12項(xiàng)裝配誤差對(duì)操作端的位置影響較大，提出對(duì)運(yùn)動(dòng)學(xué)模型中的裝配誤差進(jìn)行參數(shù)辨析，以此修正正向運(yùn)動(dòng)學(xué)模型；試驗(yàn)結(jié)果表明，標(biāo)定后的Delta機(jī)構(gòu)提高了位置重復(fù)測(cè)量精度。

    Abstract:

    A calibration method was presented by off-line parameters identification in order to enhance the position measuring accuracy of the Delta mechanism. Based on structure and kinematic model of mechanism, the error sources influenced accuracy of operation end were analyzed. A forward kinematic model contained errors sources was built. By analyzing the effect of error sources on position error of operation end, twelve assembling errors that made more effect on position of operation end were presented and solved, and the forward kinematic model was calibrated. The experiment results showed that the calibrated Delta mechanism improved the measurement accuracy of position.

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韓江義,游有鵬,虞啟凱. Delta并聯(lián)機(jī)構(gòu)正向運(yùn)動(dòng)學(xué)標(biāo)定方法研究[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2013,44(6):253-257. Han Jiangyi, You Youpeng, Yu Qikai. Forward Kinematic Calibration of Delta Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):253-257.

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  • 在線發(fā)布日期: 2013-05-28
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