准各向同性并联机床的标定
Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide
摘要：
提出了一种新的准各向同性并联机构几何模型标定方法。它基于在特定测试姿势之间的运动期间对操纵器腿平行度的观察，并采用由连接到通用磁性支架的标准比较器指示器组成的低成本测量系统。当机械手沿笛卡尔轴移动TCP时，它们顺序地用于测量相关腿位置的偏差。使用测量的差异，开发的算法估计的关节偏移和腿的长度被视为最重要的参数。实验结果证实了所提出的校准技术的有效性。
英文摘要：
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between the specific test postures and employs a low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They are sequentially used for measuring the deviation of the relevant leg location while the manipulator moves the TCP along the Cartesian axes. Using the measured differences, the developed algorithm estimates the joint offsets and the leg lengths that are treated as the most essential parameters. Validity of the proposed calibration technique is confirmed by the experimental results.
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