一种四自由度并联机构的标定技术

运动学标定就是对实际几何参数的估计过程,通过标定来减少动平台的位姿误差。本文对并联机构的标定技术进行了介绍,并对一种四自由度并联机构的标定过程以两种标定方法进行了说明,给出了仿真结果。

Kinematic calibration is the prossess of estimating the manipulator’s kinematic parameters to improve the platform accuracy.The calibration technology for the parallel kinematics mechanism was introduced and a kind of 4-dof parallel mechanism was calibrated with two methods,and the simulation results were given out.