【摘要】 由于传统接触式测量存在测量受力等因素容易引起测量精度不稳定,提出了一种基于视差原理的3-PRS并联机构末端位姿测量方法。首先建立了双目视觉测量模型,在动平台上人工设置4个标志点,末端位姿可通过标志点的空间坐标进行描述;其次构建标志点坐标与动平台末端位姿间的数学模型,实现对末端位姿检测;最后运用数值方法求解末端位姿,并与运动学正解方法得到的末端位姿进行比较。结果表明采用非接触式测量方法适用于3-PRS并联机构的末端位姿检测且精度高。更多还原

【Abstract】 Due to the existence of measuring force and other factors in traditional contact measurement,it is easy to cause the instability of measurement accuracy. A terminal position and pose measurement method of 3-PRS parallel mechanism based on parallax principle is proposed. Firstly,the binocular vision measurement model was built bymanually,set 4 mark points on the moving platform,the terminal position and pose can be described by the spatial coordinates of the landmarks; secondly,the mathematical model between the coordinate of the landmarks and the terminal position and pose of the moving platform is constructed to realize the detection of the terminal position and pose; finally,the terminal position and pose is solved by numerical method and compared with the terminal position and pose obtained by the positive kinematics method. The results show that the non-contact measurement method is suitable for the detection of the terminal position and pose of the 3-PRS parallel mechanism and the accuracy is high.更多还原