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Calibration method of full parameters of general three-branched parallel mechanism

A calibration method and three-branch technology, applied in special data processing applications, geometric CAD, design optimization/simulation, etc., can solve problems such as reducing the accuracy of three-branch parallel mechanisms

Active Publication Date: 2020-04-24
派罗(廊坊)机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Generally, the three-branch parallel mechanism will contain certain errors, which will reduce the working accuracy of the general three-branch parallel mechanism.

Method used

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  • Calibration method of full parameters of general three-branched parallel mechanism
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  • Calibration method of full parameters of general three-branched parallel mechanism

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Embodiment Construction

[0069] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiment is a partial embodiment of the present invention, but not all of them.

[0070] Accordingly, the following detailed description of the embodiments of the invention is not intended to limit the scope of the claimed invention, but is merely representative of component embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0071] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each...

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Abstract

The invention provides a method for calibrating all parameters of a three-branch parallel mechanism. Error compensation is realized through calibrating all parameters of a general three-branch parallel mechanism. The calibration method of the invention is utilized to calibrate all structural parameters of the general three-branch parallel mechanism, and the calibration method has an obvious effect of improving the positioning accuracy. The general three-branch parallel mechanism has a great many of parts, if the design accuracy and the manufacturing accuracy of each part are improved, the cost is high and the improvement cannot be achieved in engineering. Through the method for calibrating the parameters, the system error can be reduced and the positioning accuracy of the general three-branch parallel mechanism can be improved.

Description

technical field [0001] This application relates to the field of parameter calibration of a general three-branch parallel mechanism, and specifically relates to a full-parameter calibration method for a general three-branch parallel mechanism. Background technique [0002] In the general three-branch parallel mechanism with few degrees of freedom, the most promising application is the three-degree-of-freedom general three-branch parallel mechanism in 3RPS space. Among them, the 3RPS mechanism was first proposed by Hunt in 1983. It is widely used because it can realize two rotations and one movement. Since the working space of the spherical joint is very small, and it is difficult to manufacture a spherical joint without gaps, composite spherical joints are often used instead of spherical joints in engineering, such as figure 1 As shown, the composite spherical joint is composed of three revolving pairs (RRR). Theoretically, the axes of the three revolving pairs should be pe...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20G06F30/17
CPCG06F30/17G06F30/367
Inventor 周万勇周健聪
Owner 派罗(廊坊)机器人科技有限公司