Six-degree-of-freedom parallel mechanism parameter calibration device and method

Abstract

The invention relates to a six-degree-of-freedom parallel mechanism parameter calibration device and method. The parameter calibration device comprises displacement sensors, a sensor seat, a measuredreference block, a bracket and a parameter calibration calculation module; the sensor seat comprises three mutually orthogonal planes, one displacement sensor, two displacement sensors and three displacement sensors are respectively fixed on the three planes, and the axes of measuring rods of the displacement sensors are vertical to the corresponding planes; the sensor seat is fixed to a fixed platform of the six-degree-of-freedom parallel mechanism through the bracket; the measured reference block comprises three mutually orthogonal reference planes in one-to-one correspondence with the threeplanes, contacts of the displacement sensors are in contact with the corresponding reference planes, and the measured reference block is fixed at the top of a movable platform of the six-degree-of-freedom parallel mechanism; and the parameter calibration calculation module is used for calibrating and compensating parameters of the six-degree-of-freedom parallel mechanism. The six-degree-of-freedom parallel mechanism parameter calibration device has the advantages of low cost, simplicity in operation, time saving, labor saving, high calibration efficiency and the like.

Description

technical field [0001] The invention relates to the technical field of mechanisms, in particular to a parameter calibration device and method for a six-degree-of-freedom parallel mechanism. Background technique [0002] The six-degree-of-freedom parallel mechanism is widely used in the fields of fine adjustment of optical components and ultra-precision machining due to its advantages of high precision, high stiffness, and no cumulative error. [0003] Due to the existence of processing and assembly errors, there is a certain deviation between the actual structural parameters of the six-degree-of-freedom parallel mechanism and the theoretical structural parameters, which leads to a certain deviation between the kinematics model established based on the theoretical parameters and the actual structure. The use of high-precision machine tools can reduce the machining error of structural parts, but the cost is high. Compensating the error through parameter calibration is a low-co...

AI Technical Summary

Problems solved by technology

[0005] Based on this, it is necessary to provide a simple and efficient six-degree-of-freedom parallel mechanism parameter calibration method for the problems of high cost, time-consuming operation, low calibration efficiency, and low calibration accuracy in the prior art six-degree-of-freedom parallel mechanism calibration method Device and method to achieve the purpose of reducing costs, simplifying the calibration process, and improving calibration efficiency

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