6-THRT并联机器人的标定研究

【作者】 李叔祥；

【导师】 李开明；

【作者基本信息】 南京理工大学 ， 机械制造及其自动化， 2004， 硕士

【摘要】 为了提高6-THRT型并联机器人的末端位姿精度，需要对其进行运动学标定。在本文中，基于D-H法建立了理想和实际运动学模型。提出了一种基于附加中心轴测量机构的位姿测量方法，实现对并联机器人运动平台位置和姿态的直接测量；分析了测量机构的特点和误差来源，建立了测量模型，获得了位姿显示解。通过运动学反解模型建立目标函数，利用最小二乘辨识算法，来识别并联机器人的实际结构参数。数值仿真结果表明上述位姿测量方法测量精度高，基于该位姿测量方法的标定算法能够快速、有效地辨识出并联机器人的实际结构参数，标定效果好。更多还原

【Abstract】 In order to improve the accuracy of the 6-THRT parallel manipulator, kinematic calibration is needed. In this paper, Using the D-H (Denavit-Hartenberg) establish the ideal and actual kinematic model. A method of pose measurement is present by a additional central measure-axle. It is used to directly measure the position and orientations of the parallel manipulator. Making an Analysis about source of errors and the characteristic of the measurement mechanism. The explicit formulation of the 6-THRT parallel manipulator is given by the measurement model. Establishing a goal function through reverse kinematic model. Using the iterative least squares algorithm to identify the actual structural parameter of the parallel manipulator. The results of computer simulation for kinematic calibration of the parallel robot shown that the measurement precision of the measurement mechanism is better ,and that the actual structural parameter of the parallel manipulator can be fast and efficiently identified by the method of calibration.更多还原