Parameter calibration of 6-dof parallel mechanism using orthogonal displacement measurement system

doi:10.37188/OPE.20212902.0316

CIOMP OpenIR

	Parameter calibration of 6-dof parallel mechanism using orthogonal displacement measurement system
	L.-W. Yang; H. Bao; Y.-C. Fan; Z.-L. Li and D.-Y. Dong
	2021
发表期刊	Guangxue Jingmi Gongcheng/Optics and Precision Engineering
ISSN	1004924X
卷号	29 期号:2 页码:316-328
摘要	In order to simplify the parameter calibration process of 6-DOF parallel mechanism, improve the calibration efficiency and reduce the calibration, a novel device and method of pose measurement based on orthogonal displacement measurement system is described.First, the pose calculation method of the device is studied, and the forward and reverse kinematic solution is solved by using the method of spatial analytic geometry. Secondary, the error model of the combination of parallel mechanism and orthogonal displacement measurement system is established by using the method of micro displacement synthesis. Then, based on the error model, the model of optimal problem of parameter identification is constructed. The minimum square sum of the sensor indication error is the objective function, and the parameter error of the combination is the variables. Finally, the pose of the parallel mechanism are measured by orthogonal displacement measurement system, and the optimal solution of the parameter error is found by OASIS, and model parameter in the control system is compensated.the calibration of parallel mechanism is completed.The comparison of the pose error before and after calibration show that: the maximum position error is reduced by 58%-96%, the maximum attitude error is reduced by 92%-97%.Using the orthogonal displacement measurement system to calibration the parameters of the parallel mechanism can not only improve the position accuracy of the parallel mechanism, but also simplify the calibration work, improve the calibration efficiency and reduce the cost. 2021, Science Press. All right reserved.
DOI	10.37188/OPE.20212902.0316
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收录类别	EI
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文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/65515
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	L.-W. Yang,H. Bao,Y.-C. Fan,et al. Parameter calibration of 6-dof parallel mechanism using orthogonal displacement measurement system[J]. Guangxue Jingmi Gongcheng/Optics and Precision Engineering,2021,29(2):316-328.
APA	L.-W. Yang,H. Bao,Y.-C. Fan,&Z.-L. Li and D.-Y. Dong.(2021).Parameter calibration of 6-dof parallel mechanism using orthogonal displacement measurement system.Guangxue Jingmi Gongcheng/Optics and Precision Engineering,29(2),316-328.
MLA	L.-W. Yang,et al."Parameter calibration of 6-dof parallel mechanism using orthogonal displacement measurement system".Guangxue Jingmi Gongcheng/Optics and Precision Engineering 29.2(2021):316-328.

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