【摘要】 提出了一种新型的基于超声波测距原理的并联平台位姿高精度测量方法。以Stewart型平台为例 ,介绍了通过三角形法实现运动平台三维定位及运动学建模的方法 ,并给出了基于测量模型的平台位姿的表达式更多还原

【Abstract】 In order to directly measure the position and orientation of parallel platform, a novel and precise method based on ultrasonic distance measurement was proposed.Taking the Stewart platform as an example,the 3-D positioning of movable platform with triangle sqare wave were discussed. Moreover kinematics model of this measuring method,and the position and orientation formula of parallel platform was derived.更多还原