6自由度绳牵引并联机构的运动学参数标定

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．

Kinematic Calibration of 6-DOF Wire-Driven Parallel Manipulators

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.