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

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

1.
河南理工大学机械与动力工程学院, 焦作 454003

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

计量
- 文章访问数: 126
- HTML全文浏览量: 13
- PDF下载量: 10
- 被引次数: 0
出版历程
- 收稿日期: 2014-01-04
- 刊出日期: 2015-10-05

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

1.
School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo 454000, China

摘要

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。
- 遗传算法 /
- 并联机床 /
- 运动学 /
- 误差 /
- 标定
Abstract: 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.
- calculations /
- calibration /
- connecting rods /
- errors /
- functions

HTML全文

参考文献(15)

[1]	高峰.机构学研究现状与发展趋势的思考[J]. 机械工程学报,2005,41(8):3-17 Gao F. Reflection on the current status and development strategy of mechanism research[J]. Chinese Journal of Mechanical Engineering, 2005,41(8):3-17(in Chinese)
[2]	何小妹,丁洪生,付铁,等.并联机床运动学标定研究综述[J]. 机床与液压,2004,(10):9-11,31 He X M, Ding H S, Fu T, et al. Review on kinematic calibration of parallel kinematic machine[J]. Machine Tool & Hydraulics, 2004,(10):9-11,31(in Chinese)
[3]	Matsushita T, Ueno H, Matsubara A. Elastic deformation error model for calibration and compensation of parallel kinematic mechanism machine tool[J]. International Journal of Automation Technology, 2012,6(2):188-195
[4]	Renaud P, Andreff N, Dhome M, et al. Experimental evaluation of a vision-based measuring device for parallel machine-tool calibration[J]. IEEE International Conference on Intelligent Robots and Systems, 2002,2:1868-1873
[5]	钟诗胜,杨晓钧,王知行.基于6-TPS型并联机床的标定方法研究[J]. 计算机集成制造系统,2005,11(10):1469-1474 Zhong S S, Yang X J, Wang Z X. Research on calibration method based on 6-TPS type parallel machine tool[J]. Computer Integrated Manufacturing Systems, 2005,11(10):1469-1474(in Chinese)
[6]	高猛,李铁民,尹文生,等.一种基于相关性分析的并联机床标定方法[J]. 机械工程学报,2005,41(1):88-92 Gao M, Li T M, Yin W S, et al. Calibration method for a parallel kinematic machine based on relativity analysis[J]. Chinese Journal of Mechanical Engineering, 2005,41(1):88-92(in Chinese)
[7]	常鹏,李铁民,刘辛军.平面三自由度冗余并联机床的分步自标定方法[J]. 清华大学学报,2008,48(5):808-811 Chang P, Li T M, Liu X J. Step-by-step self-calibration of a 3-DOF planar parallel kinematic machine tool with actuation redundancy[J]. Journal of Tsinghua University, 2008,48(5):808-811(in Chinese)
[8]	延皓,李长春,张金英.基于外部坐标测量的六自由度并联机构标定方法[J]. 兵工学报,2013,34(5):649-656 Yan H, Li C C, Zhang J Y. Calibration of 6DOF parallel mechanism based on external coordinate measurement[J]. Acta Armamentarii, 2013,34(5):649-656(in Chinese)
[9]	杨晓钧,李兵,张东来.并联机床运动学自标定方法研究[J]. 计算机集成制造系统,2008,14(9):1825-1829 Yang X J, Li B, Zhang D L. Kinematics automatic calibration method for parallel machine tool[J]. Computer Integrated Manufacturing Systems, 2008,14(9):1825-1829(in Chinese)
[10]	高建设,程丽,赵永生.新型5自由度并联机床运动学自标定研究[J]. 计算机集成制造系统,2007,13(4):738-743 Gao J S, Cheng L, Zhao Y S. Kinetic self-calibration of novel 5-DOF parallel machine tool[J]. Computer Integrated Manufacturing Systems, 2007,13(4):738-743(in Chinese)
[11]	魏世民,周晓光,廖启征.六轴并联机床运动精度的标定研究[J]. 中国机械工程,2003,14(23):1981-1985 Wei S M, Zhou X G, Liao Q Z. Research on the kinematic calibration of six-axes parallel machine tool[J]. China Mechanical Engineering, 2003,14(23):1981-1985(in Chinese)
[12]	任晓栋,冯祖仁,苏承平.利用姿态约束的并联机器人运动学标定方法[J]. 西安交通大学学报,2008,42(12):1445-1449 Ren X D, Feng Z R, Su C P. Method for kinematic calibration of parallel robots using orientation constraint[J]. Journal of Xi'an Jiaotong University, 2008,42(12):1445-1449(in Chinese)
[13]	高猛,李铁民,叶佩青,等.面向精度评价的并联机床参数辨识技术[J]. 机械工程学报,2005,41(5):79-83 Gao M, Li T M, Ye P Q, et al. Precision evaluation oriented parameter identification of PKM tools[J]. Chinese journal of Mechanical Engineering, 2005,41(5):79-83(in Chinese)
[14]	潘芳伟.基于自适应遗传算法的新型6自由度并联机器人精度综合[J]. 机械设计,2009,26(8):28-31 Pan F W. Accuracy synthesis of new typed 6 DOF parallel robot based on self-adaptive genetic algorithm[J]. Journal of Machine Design, 2009,26(8):28-31(in Chinese)
[15]	黄俊杰,赵俊伟.3-PRS并联机构位置正解分析[J]. 河南理工大学学报,2012,31(4):434-436,452 Huang J J, Zhao J W. Research on kinematic forward solution for 3-PRS parallel mechanism[J]. Journal of Henan Polytechnic University, 2012,31(4):434-436,452(in Chinese)