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并联六自由度机构运动学与动力学标定对比

DOI: 10.3969/j.issn.1006-7043.201307047

Keywords: 并联六自由度机构, 结构参数, 标定方法, 标定精度, 关节空间, 动力学标定, 运动学标定

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Abstract:

为了研究并联六自由度机构不同标定方法的适用性,依据运动学标定和动力学标定,分别建立了并联六自由度机构的标定模型,并通过数值仿真对标定效果进行对比分析。结果表明:运动学标定方法对提高机构运动正解精度更为有效,正解误差比动力学标定的结果小4.9%,有利于传统的基于关节空间的并联机构控制策略;动力学标定方法对提高机构动力学模型精度更为有效,关节驱动力误差比运动学标定的结果小5~25 N,更适合基于工作空间的并联机构控制策略。

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