| 基于关节力传感器的并联六自由度机构标定方法 |
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| 引用本文： | 皮阳军,王宣银,胡玉梅.基于关节力传感器的并联六自由度机构标定方法[J].农业机械学报,2012,43(10):215-218. |
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| 作者姓名： | 皮阳军 王宣银 胡玉梅 |
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| 作者单位： | 1. 重庆大学机械传动国家重点实验室,重庆,400044
2. 浙江大学流体传动及控制国家重点实验室,杭州,310027 |
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| 基金项目： | 国家自然科学基金资助项目(50375139、51105389)和中央高校基本科研业务费资助项目(CDJRC11280003) |
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| 摘 要： | 提出了一种基于关节力传感器的并联六自由度机构结构参数标定方法.从力学角度出发,通过测量并联六自由度机构各关节驱动力,利用并联六自由度机构自身的运动学和动力学模型构造相应的辨识模型,实现其结构参数的标定.通过标定仿真验证了该方法的实用性和有效性.
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| 关 键 词： | 并联六自由度机构 关节力传感器 标定 结构参数 |
Calibration of 6-DOF Parallel Mechanism Using Joint Force Sensors |
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| Pi Yangjun,Wang Xuanyin and Hu Yumei.Calibration of 6-DOF Parallel Mechanism Using Joint Force Sensors[J].Transactions of the Chinese Society of Agricultural Machinery,2012,43(10):215-218. |
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| Authors: | Pi Yangjun Wang Xuanyin and Hu Yumei |
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| Institution: | Chongqing University;Zhejiang University;Chongqing University |
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| Abstract: | A calibration method of 6-DOF parallel mechanism based on joint force sensors was presented to improve the accuracy of parallel mechanism. In this method, both dynamics and kinematics of parallel mechanism were used to construct identification model. Only the data of force sensors installed on the end of joint actuators was required. Simulation results revealed the convenience and effectiveness of the proposed calibration method. |
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| Keywords: | 6-DOF parallel mechanism Joint force sensor Calibration Structural parameters |
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