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少自由度并联机构是并联机构的重要分支之一。和全自由度并联机构相比,由于受到运动约束,因此在运动学标定的过程中需要对此加以分析,结合运动学方程组得到完整的辨识矩阵。该文基于3-PRS少自由度并联机构,首先对少自由度并联机构运动学标定进行误差建模,通过理论分析得到最简化的误差模型,并使用遗传算法进行了测量位姿选择,其次通过仿真计算验证了分析的正确性和有效性,最后结合仿真结果提出一种误差辨识能力分析方法。
Less degree of freedom parallel mechanism is an important branch of the parallel mechanism. Compared with the full-DOF parallel mechanism, it needs to be analyzed during kinematic calibration due to the constraint of motion, and a complete identification matrix is obtained by combining kinematic equations. Based on the 3-PRS less-degree-of-freedom parallel mechanism, the kinematic calibration of the less-degree-of-freedom parallel mechanism is firstly modeled. The most simplified error model is obtained through theoretical analysis. The position and orientation are measured by genetic algorithm. Simulation results verify the correctness and validity of the analysis. Finally, an error analysis capability analysis method is proposed based on the simulation results.