一种四自由度并联机构的误差分析及其标定补偿

针对一种四自由度并联机构进行了运动学分析 ,在此基础上以摄动法建立了其误差模型 ,明确了各误差源对末端位姿的影响 .在对并联机构的标定技术进行简单介绍后 ,说明了对该机构误差模型中的机构参数进行标定的两种方法 ,介绍了标定装置、标定算法及标定过程 .最后采用Matlab对基于逆解的标定方法进行了仿真 ,并对仿真结果进行了分析 .

This paper proposes a novel 4-dof parallel mechanism. The kinematics of this mechanism is presented firstly, and then the kinematics error model is given and analyzed using perturbation method. After a simple review of the kinematics calibration technology of this parallel mechanism, two calibration methods for error model analysis on this mechanism are discussed in detail. Finally, the simulation results are given based on the IK(inverse kinematic) calibration in the Matlab environment.