并联机械手冗余最小误差识别及校准实验验证OACSTPCD

Aimed at the motion accuracy of redundant driven parallel manipulator,and a three degree of freedom spindle head taken as an example,a motion accuracy calibration method based on minimum error model is proposed.The redundant geometric source error is eliminated to establish the minimum error model including the minimum geometric source error,and the sensitivity of geometric source error is analyzed by Monte Carlo simulation to study the relative impact of each geometric source error on terminal accuracy.On this basis,a hierarchical identification strategy combining coarse calibration and fine calibration is proposed to realize the accuracy calibration of redundant driven parallel manipulator.The calibration experiments show that the proposed calibration method can greatly reduce the terminal error of redundant driven parallel manipulator,and verify the effectiveness of the method.