【摘要】 并联机器人标定时测量数据的参考系与其运动参考系不一致将导致系统误差的产生,通过改进标定建模方式将两个参考系统一,并用数值模拟一5自由度并联机器人的标定过程,对比其结果发现改进模型可以完全消除测量的系统误差对并联机器人标定精度的影响,进一步提高并联机器人的标定精度。这种标定建模方式具有很高的实用价值。更多还原

【Abstract】 At the step of measurement for calibration of parallel robot, the system error will be created for the inconsistent reference frame between the spatial coordinate measuring device and the parallel robot. To eliminate the system error, the reference frame of the parallel robot is transformed to the one of the spatial coordinate measuring device at the step of modeling for calibration of parallel robot and a consistent reference frame is obtained. After simulating the process of calibration with the unimproved model and the improved model respectively to a 5-DOF parallel robot, the results indicate that the improved model can eliminate the system error completely while the unimproved model can not. So the improved model is better at improving the accuracy of calibration. The method of modeling for calibration of parallel robot has a highly use value.更多还原