一种全回转并联机械手的标定方法与实验分析-calibration method and experimental analysis of a fully rotating parallel manipulator.docxVIP

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一种全回转并联机械手的标定方法与实验分析-calibration method and experimental analysis of a fully rotating parallel manipulator.docx

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一种全回转并联机械手的标定方法与实验分析-calibration method and experimental analysis of a fully rotating parallel manipulator

ABSTRACTThis dissertation dealt with the kinematic calibration of a novel parallel manipulator with full circle rotation, including kinematic analysis, error modeling, error sensitivity analysis, parameter identification, kinematic calibration and test. The main research achievements are as follows:On the basis of kinematic analysis, the error model of the parallel manipulator was formulated by the space vector chain method. According to the parallelogram structure, the position error mapping model and the rotation error mapping model were established through the mathematical transformation. Regarded the sensitivity of the whole workspace as the evaluation index, all error source were analyzed, and the relationship between geometric error parameters and accuracy of the end-effector was determined, which provided reference for the design of mechanical part tolerance.Based on the measurement of DDB, the parameters identification was put forward.The measuring trajectory was determined by the translation freedom of the end-effetor and identifiability. The computer simulation was carried out, which showed that the identification error was infinitesimal of higher order of the theoretical value. The simulation validated the effectiveness of the parameters identification.Error compensation was proposed by modifying the inputs, and kinematics calibration and experiment verification were developed. The test was carried out by regarding the position of end-effector as the compensation source, the results of which showed that the error reduced 65% after compensation, and it was coincident with the simulation. The test verified the effectiveness of kinematics calibration method.KEY WORDS： Parallel Robot , Error Modeling , Kinematic Calibration , DBB目录摘要.............................................................................................................................. IABSTRACT........................................................................................