平动并联机构标定中一种简单测量方案的设计方法.pdfVIP

维普资讯 学兔兔 第44卷第5期 机 械 工 程 学 报 vo1．44 No．5 2008年 5月 CHn ESE JOURNAL 0F MECHANICAL ENGINEERING May 2008 平动并联机构标定中一种简单 测量方案的设计方法木 常 鹏 李铁民 刘辛军 汪劲松 (清华大学精密仪器与机械学系 北京 100084) 摘要：针对平动并联机构标定中的测量，提出一种基于参数辨识性分析的简单测量方案的设计方法。该方法根据误差模型输 出和机构自由度，给出工程实际中常用的基本测量方式，然后逐一进行辨识性分析。在兼顾测量成本、辨识完整性和参数辨 识性能的条件下，比较、整合各测量方式，从而确定出一种简单测量方案。利用上述方法，对一台2自由度平动并联机构标 定进行简单测量方案的设计，标定仿真结果验证了该方法的实用性和有效性。由该方法得到的测量方案简单易行，实施效率 高，其思路适用于工程环境下各种平动并联机构的标定。 关键词：并联机构 标定 测量 参数辨识 中图分类号：THll5 Design Method for a Kind of Simple Measurement Scheme for Calibration of Translational Parallel Mechanisms CHANG Peng LI Tiemin LIU Xinjun WANG Jinsong (Department ofPrecision Instruments and Mechanology,Tsinghua University,Beijing 100084) Abstract：A kind of simple measurement scheme is designed for the measurement in the calibration of translational parallel mecha— nisms(TPMs)．This scheme is based on parameter identifiability analysis．According to the ou~ut of error model and the degree of freedom(DOF)of mechanism,basic measurement methods mainly used in practical engineering are listed．Then the identifiability analysis is carried out on each of the measurement methods．Taking the measurement cost into account，parameter identification in— tegrity and capability,a simple measurement scheme is determined through comparison and integration．By using the above method，a simple measurement scheme for the calibration of a 2-DOF TPM is designed．The simulation results show that the method is practi— cable and effective．The measurement scheme resulted from the method iS s