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基于遗传算法的3-PRS并联机床的运动学标定分析研究

孙付伟 赵俊伟 张芹

孙付伟, 赵俊伟, 张芹. 基于遗传算法的3-PRS并联机床的运动学标定分析研究[J]. 机械科学与技术, 2015, 34(10): 1504-1510. doi: 10.13433/j.cnki.1003-8728.2015.1006
引用本文: 孙付伟, 赵俊伟, 张芹. 基于遗传算法的3-PRS并联机床的运动学标定分析研究[J]. 机械科学与技术, 2015, 34(10): 1504-1510. doi: 10.13433/j.cnki.1003-8728.2015.1006
Sun Fuwei, Zhao Junwei, Zhang Qin. Study on Kinematic Calibration for 3-PRS Parallel Machine Tool Based on Genetic Algorithm[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(10): 1504-1510. doi: 10.13433/j.cnki.1003-8728.2015.1006
Citation: Sun Fuwei, Zhao Junwei, Zhang Qin. Study on Kinematic Calibration for 3-PRS Parallel Machine Tool Based on Genetic Algorithm[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(10): 1504-1510. doi: 10.13433/j.cnki.1003-8728.2015.1006

基于遗传算法的3-PRS并联机床的运动学标定分析研究

doi: 10.13433/j.cnki.1003-8728.2015.1006
基金项目: 

河南省科技攻关计划项目(132102210430)资助

详细信息
    作者简介:

    孙付伟(1981-),讲师,博士研究生,研究方向为并联机器人,fuwei@hpu.ecu.dn

Study on Kinematic Calibration for 3-PRS Parallel Machine Tool Based on Genetic Algorithm

  • 摘要: 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。
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出版历程
  • 收稿日期:  2014-01-04
  • 刊出日期:  2015-10-05

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