重庆理工大学学报（自然科学版）2018，Vol.32Issue(3)：86-95,10.DOI:10.3969/j.issn.1674-8425(z).2018.03.012
CTS机构几何误差分析及补偿
Geometric Error Analysis and Compensation of CTS Mechanism
摘要
Abstract
The essay analyzes the geometric error of the separation mechanism with 6-DOF(referred as CTS Mechanism)that has been existed,including that the zero error of the global coordinate system of mechanism and wind tunnel fixed coordinate system do not coincide,the position error of the linear motion guide rail and the global coordinate system of mechanism do not parallel,and that the position and attitude error of the separation model caused by the yaw and pitch axis do not coincide with the ideal design axis.The compensated forward kinematics solution is obtained by introduced the error terms into the kinematics equations.The modified inverse kinematics of the CTS mechanism is solved by Newton iterative method in order to realize the compensation of the mechanism and improve the accuracy of the mechanism.Through the test in wind tunnel,the error compensation effect of three axis linkage is verified,and the validity of the compensation method is also proved.And the accuracy after the error compensation improved by 88.21% than no compensation.关键词
CTS/几何误差/误差拟合/标定/误差补偿/定位精度Key words
CTS/geometric error/error fitting/calibration/error compensation/position accuracy分类
航空航天引用本文复制引用
张竹青,谢志江,蹇开林,缑双双..CTS机构几何误差分析及补偿[J].重庆理工大学学报（自然科学版）,2018,32(3):86-95,10.基金项目
国家自然科学基金面上项目(U1530138) （U1530138）
