直线电机驱动六自由度并联机器人运动学标定研究

doi:10.3969/j.issn.1000-1158.2025.02.09

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Abstract To tackle slow iterative convergence in the optimization algorithm caused by inconsistent position and attitude dimensions in kinematic calibration of parallel robots， a method for unifying the order of magnitude of displacement and attitude functions in error models is proposed. First， taking the 6-PSS parallel robot driven by a linear motor as the research object， based on the closed-loop vector equation， a dimensionless kinematic parameter error model is constructed by reducing the loss function values of the displacement function and attitude function in the error Jacobian matrix. Second， the least squares algorithm is used to identify the kinematic parameter errors including the spherical hinge point， rod length， and guide rail direction vector of the dynamic and static platform， and the parameters of the control model are further modified based on the identification results. At last， a linear motor-driven 6-PSS parallel robot kinematics calibration experiment is conducted， and the AICON binocular stereo vision device is placed in an indoor environment without sudden changes in light to measure the actual position and attitude of the parallel robot’s end effector. The theoretical position and attitude are compared to obtain the error， and then the accuracy of the prototype is compensated. The experimental results show that after kinematic calibration， the position accuracy of the prototype is improved by 96.736%， the attitude accuracy is improved by 83.750%， and the accuracy compensation is effective， which verifies the effectiveness of the error model.

Key words： parallel robot 6-PSS error model least square method kinematic calibration

Received: 07 October 2023 Published: 04 March 2025

PACS:

TB934

Corresponding Authors: Zhihua Liu E-mail: liuzhihua@nim.ac.cn

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	ZHANG Xinlu
	LIU Zhihua
	CAI Chenguang
	KONG Ming
	FU Lei

Cite this article:

ZHANG Xinlu,LIU Zhihua,CAI Chenguang, et al. Kinematic Calibration of the 6-DOF Parallel Robot Driven by Linear Motor[J]. Acta Metrologica Sinica, 2025, 46(2): 213-221.

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http://jlxb.china-csm.org:81/Jwk_jlxb/EN/10.3969/j.issn.1000-1158.2025.02.09 OR http://jlxb.china-csm.org:81/Jwk_jlxb/EN/Y2025/V46/I2/213

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