摘要
为提高并联机床的运动精度,基于一台少自由度的龙门式并联机床,提出并验证了一种简单高效的标定算法。从误差建模出发,得到基于相对位置测量的标定参数识别矩阵。利用常用仪器只测量相对位置信息,并基于识别矩阵的非奇异性,通过仿真来选择合适的试验方案;标定试验取得了较好的效果。由于算法和测量装置具有通用性,该试验研究为少自由度并联机床的标定提供了较通用的解决方案。
In order to improve the accuracy of the parallel kinematics machine (PKM), a simple and effective calibration methods is proposed and testified, based on a real PKM with gantry structure. The observation matrix of calibration on relative position measurement is achieved from error model. The information of relative position is obtained using the universe instruments, and the calibration scheme is acquired through simulation according to the non-singularity of the observation matrix. The experiment has an excellent result. Because of the universality of the theory scheme and instruments, a universal calibration scheme is provided for the PKMs with a few degrees, to improve accuracy and accelerate their applications.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2003年第9期118-122,共5页
Journal of Mechanical Engineering
基金
国家973重点基础研究资助项目(G1998030607)
