【摘要】 针对并联机器人中存在的运动精度欠缺的问题,对一种用于海浪模拟的六自由度并联平台进行了零点标定与性能评估。确立了并联平台的运动控制模型,通过齐次坐标方法建立了该并联平台的运动学反解,并且在运动学反解的基础上采用边界搜索法确定了平台定姿态时的工作空间。采用"PC机+运动控制卡"的控制模式对该平台进行了运动控制系统的设计,实现了并联平台的运动控制。首先运用矢量推导法建立了平台的零点误差模型,然后借助于激光跟踪仪对平台进行了零点标定,提高了平台的运动性能。最后针对特定的海浪谱,利用该平台对其进行了模拟实验,并根据实验结果对平台的跟踪性能进行了分析。研究结果表明,经过零点标定后的并联平台能够很好地对海浪进行跟踪模拟。更多还原

【Abstract】 Aiming at the problem that parallel robot exists the lack of movement precision,the zero calibration and performance assessment for a 6- DOF parallel platform used for wave simulation were completed. The inverse kinematics was acquired by using homogeneous coordinates method so as to establish the motion control model of the platform,and the workspace of certain posture was obtained by using boundary search method based on inverse kinematics. The motion control of the platform was realized,the design of control system was done by choosing PC and motion controller as the control mode. The motion performance was improved,vector derivation method was adopted to build the zero point error model,and zero calibration was implemented with the help of laser tracker.Finally,the platform was used to simulate a certain wave spectrum and the tracking performance was analyzed according to the experimental results. The results indicate that the calibrated platform has a good simulation performance.更多还原