A general and novel approach for parameter identification of 6-DOF parallel kinematic machines
A general and novel approach for parameter identification of 6-DOF parallel kinematic machines
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DOI：
10.1016/j.mechmachtheory.2004.06.009
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发表时间：
2005-02
影响因子：
5.2
通讯作者：
Tian Huang;D. Chetwynd;D. Whitehouse;Jinsong Wang
中科院分区：
文献类型：
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作者：
Tian Huang;D. Chetwynd;D. Whitehouse;Jinsong Wang
本文提出了一种基于外部标定的方法，使6-DOF并联机床（PKM）的几何参数误差识别使用的最小集的位姿误差测量。通过充分利用PKM系统的固有特性，证明了使用端点传感器和千分表，只需测量（1）端点传感器尖端产生的虚拟平面的“平面度”即可识别全套参数误差。传感器，（2）两个正交轴的“直线度”和“垂直度”，以及（3）末端执行器在初始构型时的定向误差。因此，可以显著地减少由于末端执行器的取向误差测量而造成的负担。Stewart平台的仿真结果验证了该方法的正确性和有效性。该方法具有通用性，可用于六自由度以下并联机床系统的参数辨识。
This paper presents an external calibration based approach that enables the geometric parameter errors of 6-DOF parallel kinematic machines (PKM) to be identified using a minimum set of pose error measurements. By taking full advantage of the intrinsic properties of PKM systems, it has been shown that with an endpoint sensor and a dial indicator, the full set of parameter errors can be identified by measuring only (1) the “flatness” of a fictitious plane generated by the tip of the endpoint sensor, (2) the “straightness” and “squareness” of two orthogonal axes, and (3) the orientation error of the end-effector at the initial configuration. Consequently, the burden due to the orientation error measurement of the end-effector can be dramatically reduced. Simulation results of a Stewart platform are given to illustrate the validity and effectiveness of this approach. The proposed method is so general that it can also be used to handle the parameter identification problems of PKM systems with fewer than six degrees of freedom.