机械制造与自动化2024，Vol.53Issue(4)：241-244,4.DOI:10.19344/j.cnki.issn1671-5276.2024.04.046
并联机械手冗余最小误差识别及校准实验验证
Identification of Redundant Minimum Error of Parallel Manipulator and Experimental Verification
马广建1
作者信息
- 1. 河南省产学研人工智能研究院,河南 郑州 450046
- 折叠
摘要
Abstract
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.关键词
并联机械手/运动学校准/误差建模/敏感性分析/误差校准Key words
redundant driven parallel manipulator/sports school admission/error modeling/sensitivity analysis/error calibration分类
信息技术与安全科学引用本文复制引用
马广建..并联机械手冗余最小误差识别及校准实验验证[J].机械制造与自动化,2024,53(4):241-244,4.
