3-UPS/S并联稳定平台满载工况误差分析与运动学标定

中国机械工程

3-UPS/S并联稳定平台满载工况误差分析与运动学标定

李玉昆1,2;李永泉1,2;佘亚中2,3;张立杰2,3

1.燕山大学河北省并联机器人与机电系统实验室，秦皇岛，066004
2.燕山大学先进锻压成形技术与科学教育部重点实验室，秦皇岛，066004
3.燕山大学河北省重型机械流体动力传输与控制实验室，秦皇岛，066004

出版日期:2017-04-25 发布日期:2017-04-25
基金资助:
国家自然科学基金资助项目(51405421，51275438)；
河北省自然科学基金资助项目(E2015203101)

Error Analysis and Kinematics Calibration of 3-UPS/S Parallel Stabilizing Platform in Full Load Conditions

LI Yukun1,2; LI Yongquan1,2;SHE Yazhong2,3;ZHANG Lijie2,3

1.Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao,Hebei,066004
2.Key Laboratory of Advanced Forging & Stamping Technology and Science,Ministry of Education,Yanshan University,Qinhuangdao,Hebei,066004
3.Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University,Qinhuangdao,Hebei,066004

Online:2017-04-25 Published:2017-04-25

摘要/Abstract

摘要： 当负载达到一定数值时，并联机构的变形误差相对于几何误差对动平台输出精度的影响是不可忽略的。以电液驱动型3-UPS/S并联稳定平台为研究对象，分别建立了稳定平台几何误差与变形误差的传递模型，并通过线性叠加得到了总的误差传递模型。基于几何误差传递模型，建立了稳定平台满载工况下的运动学标定模型。在满载工况下进行了运动学标定实验，测量了动平台参考点的位置，计算得到动平台姿态误差δH0，通过分离变形误差δH1得到了几何误差δH，通过最小二乘法完成了稳定平台几何误差参数标定。

关键词: 并联机构, 几何误差, 变形误差, 运动学标定

Abstract: Compared to geometric errors, output accuracy of moving platform influenced by deformation errors might not be ignored when the loads of any parallel mechanism reached a certain values. Geometric and deformation error models were established based on parallel mechanism， which were studied for an electro-hydraulic 3-UPS/S stabilized paltform, and a total error transfer model was established by linear superposition of geometric and deformation errors. Based on the geometric error model, a kinematics calibration model of the stabilized platform was established. Kinematics calibration experiments were completed in full load conditions, positions of the reference points on moving platform were measured. Posture errors δH0 of the moving platform were calculated, geometric errors δH were obtained by separating the deformation errors δH1, and then the calibrations of geometric error parameters were completed based on least-square method.

Key words: parallel mechanism, geometric error, deformation error, kinematics calibration

中图分类号:

TH112

李玉昆, 李永泉, 佘亚中, 张立杰, . 3-UPS/S并联稳定平台满载工况误差分析与运动学标定[J]. 中国机械工程.

LI Yukun, LI Yongquan, SHE Yazhong, ZHANG Lijie, . Error Analysis and Kinematics Calibration of 3-UPS/S Parallel Stabilizing Platform in Full Load Conditions[J]. China Mechanical Engineering.

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