6-PSS并联机构误差标定方法

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以6-PSS并联机构为研究对象,根据误差特点提出了一种应用激光跟踪仪进行误差标定的方法。应用此标定法可以有效标定机构误差源,并且可以有效地将杆长误差跟铰链间隙误差分离开来,得到更准确的杆长误差标定值。用实际算例对所提出方法进行了验证。 A kinematic calibration method about the 6-PSS parallel mechanism was presented based on laser tracker. The errors of mechanism could be calibrated effectively, and the gap errors of hinges were separated from the errors of legs with this calibration method; therefore the legs errors would be calibrated more precisely. Reference for further research about the error compensation was provided.