关键词: 2自由度, 球面机构, 标定, D-H变换矩阵

Abstract:

Based on D-H parameter, inverse position model was established, which can be applied for calibration of spherical 5R parallel manipulator, and which included all mechanical structure parameters. Position and orientation kinematic calibration models of the manipulator were established, and a simplified model of calibration was further obtained according to prototype, which simplified computational process of parameter identification and modification. Approximate spherical center of spherical manipulator was obtained by virtue of coordinate measuring machine, which was regarded as origin of coordinate, one can establish measuring coordinate frame, which can be regarded as kinematic reference frame, and the pose of end-effector was obtained easily. Absolute precision of the manipulator is increased by calibration experiments.

Key words: 2-DOF, spherical manipulator, calibration, D-H transformation matrix