[1]郑亚青.6自由度绳牵引并联机构的运动学参数标定[J].华侨大学学报(自然科学版),2006,27(2):184-188.[doi:10.3969/j.issn.1000-5013.2006.02.020]
　Zheng Yaqing.Kinematic Calibration of 6-DOF Wire-Driven Parallel Manipulators[J].Journal of Huaqiao University(Natural Science),2006,27(2):184-188.[doi:10.3969/j.issn.1000-5013.2006.02.020]
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6自由度绳牵引并联机构的运动学参数标定()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第27卷
期数:
2006年第2期
页码:
184-188
栏目:
出版日期:
2006-04-20

文章信息/Info

Title:
Kinematic Calibration of 6-DOF Wire-Driven Parallel Manipulators
文章编号:
1000-5013(2006)02-0184-05
作者:
郑亚青
华侨大学机电及自动化学院 福建 泉州 362021
Author(s):
Zheng Yaqing
College of Mechanical Engineering and Automation, Huaqiao University, 362021, Quanzhou, China
关键词:
倾角计;  绳牵引;  并联机构;  运动学;  参数标定
Keywords:
inclinometer;  wire-driven;  parallel manipulator;  kinematic calibration
分类号:
TH112
DOI:
10.3969/j.issn.1000-5013.2006.02.020
文献标志码:
A
摘要:
首先提出一种8根绳牵引的转动自由度解耦的6自由度并联机构,并建立其运动学模型.接着引入用 2个倾角计对6自由度绳牵引并联机构进行运动学参数标定的方法,并利用该方法对该机构的49个主要运动学参数进行辨识.最后,通过计算机仿真,对辨识结果进行验证,从而为提高该机构动平台的位姿精度莫定理论基础.这种标定方法适用于一般6自由度绳牵引并联机构的运动学参数标定,在标定时也可用相似的测量仪器来代替倾角计.同时,可在控制系统中在线嵌入其对应的标定修正模块,以便连续地补偿机构的运动学参数误差.
Abstract:
First, a new kind of redundantly restrained positioning systems(RRPMs) with decoupling rotational degrees of freedom driven by 8 wires, is presented. And its kinematic modeling is set up. The methodology for kinematic calibration using two inclinometers is introduced, under the assumption that the orientation of the moving platform can be measured using these two inclinometers and 49 main kinematic parameters are identified. Finally, the identification results are verified by computer simulation. It lays the foundation for further improving the accuracy of the posture of the moving platform of the manipulator. The calibration method can be modified to accommodate other measurement devices in addition to the inclinometers, which is suitable for kinematic calibration of general 6-DOF wire-driven parallel manipulators. This continuous calibration approach can be implanted on-line in the control system so that it could continuously compensate for kinematic errors of the manipulators.

参考文献/References:

[1] 刘得军, 艾清慧, 王建林. 3自由度并联坐标测量机运动学参数标定与计算机仿真 [J]. 机械工程学报, 2004(3):15-19.doi:10.3321/j.issn:0577-6686.2004.03.004.
[2] Yang G, Chen I M, Lim W K. Self-calibration of three-legged modular reconfigurable parallel robols basde on leg-erd distance errors [J]. Robotlca, 2001.187-198.
[3] 黄真, 孔令富, 方跃法. 并联机器人机构学理论与控制 [M]. 北京:机械工业出版社, 1997.385-394.
[4] 郑亚青, 林麒, 刘雄伟. 低速风洞绳索引并联支撑系统的运动学参数标定 [J]. 中国机械工程, 2006(6):551-554.doi:10.3321/j.issn:1004-132X.2006.06.001.
[5] 刘宏友, 李莉, 彭锋. Matlabb基础及应用 [M]. 重庆:重庆大学出版社, 2002.399-417.

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备注/Memo

备注/Memo:
国家自然科学基金资助项目(50475099)国务院侨务办公室科研基金资助项目(05Q0019)
更新日期/Last Update: 2014-03-23