基于6-TPS型并联机床的标定方法研究

以6-TPS型并联机床为对象，研究了并联机床运动学标定方法。首先假定了并联机床各结构参数单位误差，在与测量方式相一致的广义坐标上，通过并联机床正解的方式，利用所测的点数据，以数值法构造了机床末端位姿误差与结构误差的影响系数矩阵。通过这种方法，构造参数误差数学辨识模型，针对6-TPS型并联机床的特点，提出了测量并联机床平动和聚点性误差的方案，并在工程实际应用中验证了该标定方法的可行性。

Research on calibration method based on 6-TPS type parallel machine tool

The kinematics calibration method was studied based on the 6-TPS type Parallel Kinematics Machine(PKM).Firstly,each structure parameter unit error of PKM was assumed,and then the Influence coefficient matrix was constructed between the PKM terminal position and orientation errors and structure errors by numerical method using the measured data by the PKM forward kinematics,under which the general coordination system was consistent with measurement mode.The PKM parameter errors mathematical model was established by this method.The scheme of measuring the errors of the PKM translation and convergence point was presented oriented to the 6-TPS type PKM.The feasibility of the calibration method was validated in the practical engineering application.