【摘要】 为提高大型Stewart机构的定位精度,建立了误差模型并提出了基于光学坐标测量机的标定方法。仿真和试验研究表明,本方法姿态测量过程简便,算法的收敛速度快,系统的定位精度明显提高,为Stewart机构的标定提供了一种解决方案。更多还原

【Abstract】 In order to enhance the accuracy of a large stewart platform,an effective calibration technique using a laser tracker was presented.The main idea is to acquire the position and orientation information of the platform by the laser tracker and construct a residual equation,then the geometry parameters of the platform can be identified to compensate for its kinematics errors.The advantages of this method are very convenient.A simulation shows that the upper joint error can be identified effectively.更多还原