基于遗传算法的3-PRS并联机床的运动学标定分析研究
Study on Kinematic Calibration for 3-PRS Parallel Machine Tool Based on Genetic Algorithm

针对并联机床运动中存在偏差的问题,提出了基于结构参数和遗传算法的逆向运动学标定方法,推导出了并联机床误差标定的模型。该方法不需要求并联主轴平台的正向解,避免了并联机构相对复杂的正向运动分析问题。计算表明:利用名义机床结构参数计算的逆向运动误差明显大于标定的结构参数得到的逆向运动误差;标定后的三个圆柱铰和球铰的位置更接近于名义位置,说明误差标定可以对机床结构进行校正。
The calibration method for the inverse kinematics based on the structure parameters and genetic algorithm is put forward, the error calibration model for Parallel machine tool(PMT) is derived. The method does not need to calculate the forward solution for the parallel spindle platform, the complex forward motion analysis for PMT is avoided. The calculated results show:the inverse kinematics error of the nominal structure parameters is significantly higher than that of the calibration structure parameters; three calibrated positions of cylindrical joint and ball joint are closer to the nominal position, that is, the error calibration can correct the structure of machine tools