66 results about "Parallel motion" patented technology

To provide a uniaxial two-rudder vessel capable of easily carrying out directional control and speed control and capable of carrying out vessel position retention maneuvering with fixed retention capacity at a low speed range.SOLUTION: A biaxial four-rudder vessel includes a maneuvering controller 201 for controlling an action direction of thrust around a stern working on a hull 110 by controlling a direction of a propeller wake flow of propulsion propellers 101a, 101b. The maneuvering controller 201 has parallel movement maneuvering unit 286 for moving the hull 110 in parallel in an arbitrary direction by combining an action direction of thrust of a starboard propulsion system 100a and an action direction of thrust of a stern propulsion system 100b in low speed range maneuvering.SELECTED DRAWING: Figure 2

The invention belongs to the technical field of pressure sensors, and discloses a pressure sensor testing device which comprises a testing frame, clamping mechanisms and reset parts are arranged on the two sides of the interior of the testing frame, and through the cooperation of the clamping mechanisms, the reset parts and other structures, when a pressure sensor is placed in the testing frame, the pressure sensor can be clamped by the clamping mechanisms and the reset parts. The first clamping plate can push a first inclined block to move, meanwhile, the first inclined block can compress a telescopic spring, parallel movement of the first inclined block can push a moving rod to move downwards, the moving rod can drive a connecting rod to move downwards and extrude a compression spring while moving downwards, meanwhile, parallel movement of a second inclined block can also be pushed, and when the second inclined block moves, the telescopic spring can be compressed. When the pressure sensor is pressed, a second clamping plate is pushed to be connected with the bottom end of the pressure sensor, the bottom end of the pressure sensor is fixed, a positioning block is driven to move, a reset spring is extruded, and then a fixing cover is connected with a testing frame, so that a first inclined block can be limited.

The invention discloses a base fixed type multi-connecting-rod motion system and a control method and device thereof, belongs to the technical field of mimicry simulation of a mechanical environment, and particularly relates to a structure design and control technology of a six-degree-of-freedom parallel motion system. The problem that transverse vibration of a hydraulic cylinder and nonlinear factors of a system of an existing conventional hydraulically-driven six-degree-of-freedom parallel mechanism limit improvement of the system bandwidth is solved, and the system bandwidth is improved to 100 Hz; the system comprises a mechanical structure subsystem, an acceleration detection subsystem and a servo control subsystem, and the hydraulic actuator is used for performing telescopic motion based on the motion instruction to drive the connecting rod to swing, so that the platform moves and presents different postures. The base fixed type multi-connecting-rod motion system and the control method and the control device thereof are suitable for structural design and control of a six-degree-of-freedom parallel motion system.

The invention provides a multi-degree-of-freedom parallel motion platform motion trail collision risk early warning method and a multi-degree-of-freedom parallel motion platform motion trail collision risk early warning system for a simulator. The position change of the electric cylinder in a period of time in the future is predicted in advance, predicted position point information can be continuously updated in the movement process through prediction of a dynamic movement track, the movement state of the electric cylinder can be tracked in real time, accurate position information is provided for collision pre-judgment, and the position change of the electric cylinder in the period of time in the future is predicted. Whether the collision risk is generated due to speed and position changes in the movement process of the electric cylinder is judged in advance, the accuracy and foresight of collision pre-judgment are improved, and the reliability and stability of platform control and movement are guaranteed.

The utility model relates to a clamping device and a steel mesh measuring machine, two ends of a track rod synchronously move up and down in parallel through the synchronous rotation of two groups of rotating pieces, the two ends of the track rod are simultaneously clamped, and the clamping effect is better. The two sets of rotating pieces are connected through the connecting rod, the connecting rod enables the multiple sets of rotating pieces to synchronously rotate by the same angle, the number of the air cylinders is reduced, and meanwhile parallel up-and-down movement of the rail rod is guaranteed. The abrasion-resistant strip is arranged on the rail rod, scratches caused by friction between the rail and the steel mesh are avoided, the guide wheel is arranged between the rail rod and the steel mesh rail, the guide wheel is higher than the abrasion-resistant strip when the air cylinder does not act, the steel mesh can be conveniently inserted into a clamping area, friction force is smaller, and then the driving device drives the rotating piece to rotate synchronously. Under the action of the guide block, the rail rod can move up and down in parallel to adapt to steel meshes with different thicknesses, the two ends of the rail rod can be clamped, and the steel mesh clamping device can adapt to the steel meshes with different sizes and different thicknesses in cooperation with left-right movement of the steel mesh rail.

The invention relates to a space-time regulation and control grinding and polishing method and device for an anisotropic thin-wall curved-surface workpiece, and belongs to the field of ultra-precision polishing. The method comprises the steps that the anisotropic thin-wall curved-surface workpiece is fixed to a multi-axis parallel motion platform; based on the machining postures of the flexible machining tool at all the machining points and the machining crystal face of the anisotropic thin-wall curved surface workpiece, the space displacement regulation and control amount and the material removal rate of the flexible machining tool at the machining points are calculated; deconvolution is carried out on the basis of the material removal rate and the target removal volume to calculate the residence time of the flexible machining tool at the corresponding machining point; the flexible machining tool is regulated and controlled on the basis of the space displacement regulation and control amount and the residence time of the flexible machining tool, the removal difference of the anisotropic thin-wall curved surface workpiece under different machining postures and machining crystal faces is adaptively eliminated, high-precision controllable grinding and polishing are achieved, the uniform material removal rate is guaranteed, controllable material removal is achieved, and the machining precision of the anisotropic thin-wall curved surface workpiece is improved. The workpiece is fixed in a mode of only constraining the boundary, so that stress deformation generated after the workpiece is separated from the tool is avoided.

The utility model relates to the technical field of core board PIN sleeving devices. The large-size core board PIN sleeving device comprises a fusion machine assembly, and the fusion machine assembly comprises a fusion machine workbench, a fusion machine working groove and a positioning sleeve; and the parallel movement structure comprises a supporting column, a fixed seat, a clamping strip, a clamping seat, a movable plate, a threaded seat and a heavy-load lead screw. A power source is provided for the servo motor through an external power source, the servo motor can drive the coupler, the connecting plate and the four sets of linear bearings to move synchronously after being started, friction between the linear bearings and the fixed guide shaft can be reduced through the arrangement of the four sets of linear bearings, the stability of the connecting plate in the moving process can be improved, and the service life of the connecting plate is prolonged. And when the positioning columns descend to the lowest position, the four sets of positioning columns can be inserted into the four sets of positioning sleeves, the positioning accuracy of the connecting plate can be improved, the amplitude generated in the core plate moving process can be reduced through the design, and the repeated positioning accuracy is improved.

The invention relates to the technical field of parallel motion mechanisms, in particular to a five-degree-of-freedom parallel stable platform with spatial symmetry redundant drive, which comprises a fixed platform, a movable platform and a sliding guide rail, a first branch mechanism and two second branch mechanisms are arranged between the fixed platform and the movable platform, the two second branch mechanisms are symmetrically arranged on the two sides of the movable platform, one end of the first branch mechanism and one end of each second branch mechanism are movably connected with the movable platform, and the other end of the first branch mechanism and the other end of each second branch mechanism are movably connected with the fixed platform through one sliding guide rail. The attitude stability of the movable platform can be guaranteed, and the reliability of the whole system is greatly improved.

The invention relates to a method for achieving edge cutting and edge feeding for a four-chuck laser pipe cutting machine. The method comprises the following steps that the zero-tailing posture is switched; executing a process pile after zero tailing posture switching; zero-tailing posture cutting is carried out; and blanking is executed. The invention further relates to a device for achieving edge cutting and edge feeding for the four-chuck laser pipe cutting machine, a processor and a computer readable storage medium of the processor. By the adoption of the method and device for achieving feeding while cutting for the four-chuck laser pipe cutting machine, the processor and the computer readable storage medium of the processor, the machining time can be shortened and the batch production efficiency can be improved for parallel motion control over the feeding action and the cutting action.

The invention relates to a clamp for use in manufacturing automobile bodies for the automotive industry that is used to clamp and hold metal plate components in place. It is demonstrated how a parallel movement of a pivotal clamping lever is defined with just one component, using simple means.

The automatic ship mooring device based on the parallel mechanism comprises a plurality of sets of mooring working units arranged in the length direction of a ship body, and each set of mooring working unit comprises a base fixedly installed on a wharf and a suction cup connecting mechanism used for being connected with a ship in an adsorption mode. Four parallel motion branch chains are connected between the base and the suction cup connecting mechanism, so that the suction cup connecting mechanism has the freedom degrees of three-dimensional movement and rotation around one shaft, and the four parallel motion branch chains are subjected to cooperative telescopic control through an arranged controller to achieve mooring buffering; the four parallel motion branch chains comprise a first UPU branch chain, a second UPU branch chain, a first SPU branch chain and a second SPU branch chain. Compared with the prior art, the method can actively adapt to and compensate the complex motion of the ship, and has the advantages of low control difficulty, high control precision and high reliability.

To provide a small unmanned ship with two shafts and four rudders that can easily control direction and speed and can perform position-keeping maneuvering with high fixed-point-keeping performance in low-speed ranges. [Solution] The ship is equipped with a ship steering control device 201 that controls the direction of the propeller wake of the propellers 101a, 101b to control the direction of thrust acting around the stern on the hull, and the ship steering control device 201 has a parallel movement ship steering unit 205 that, during low-speed ship steering, combines the direction of thrust acting from the starboard thrust system 100a and the direction of thrust acting from the port thrust system 100b to translate the hull in any direction.

The invention relates to the technical field of robot detection, in particular to a deep learning enhanced manufacturing detection robot which comprises a base, a first rotating seat is rotatably connected to the surface of the base, a connecting arm is rotatably connected to the top surface of the first rotating seat, and a second rotating seat is rotatably connected to the end, away from the first rotating seat, of the connecting arm. A connecting block is rotationally connected to the side face of the second rotating seat, a parallel moving mechanism is arranged on the surface of the connecting block, the position and direction of operation adjustment can be enlarged through the parallel moving mechanism, more accurate motion control is achieved, and the robot can better adapt to complex working environments and tasks; a multi-claw clamping mechanism is arranged on the top face of the parallel moving mechanism and used for improving the grabbing stability of the robot in the detection process, more uniform clamping force distribution is formed so as to adapt to workpieces of different shapes and sizes, and high universality and multifunctionality are achieved.

To provide a universal caster capable of suppressing resistance generated when a wheel and a fork turn, and to provide a suitcase, a wheeled bag, a wheeled chair, and a carriage including the universal caster.SOLUTION: The universal caster 10 has a wheel 11 rolling on a traveling surface and a fork 13 supporting an axle 12 to which the wheel 11 is attached, and is attached to an external unit U. The fork 13 is turnable with respect to the turning body 14, the turning axis P which is the turning center of the turning body 14 with respect to the external unit U and the turning axis Q which is the turning center of the fork 13 with respect to the turning body 14 are non-parallel to each other, and become non-perpendicular to each other when the turning axis P is brought into contact with the turning axis Q by the parallel movement of the turning axis P.SELECTED DRAWING: Figure 1

The present invention discloses a parallel opening and closing mechanism for a vertical glass washing machine, which includes a bottom parallel motion mechanism area, an upper parallel motion mechanism area, a bottom mechanism fixing area, an upper mechanism fixing area, a moving air knife assembly and a fixed air knife assembly provided in the machine base and the housing. There are four partitions, and each partition includes a lower partition and an upper partition; the parallel opening and closing adjustment mechanisms of the four partitions have the same structure. The single-group adjustment mechanism of one partition includes a lower moving bottom plate, a bottom linear guide rail group, a bottom adjustment cylinder group, a moving friction wheel group, a fixed friction wheel group, a moving brush group, a fixed brush group, a synchronous shaft, an upper linear guide rail group, an upper moving bottom plate, an upper adjustment cylinder group, a brush power group, a transmission power group, and a bottom support wheel group. The technology of parallel opening and closing is adopted, and the entire cleaning section is independently opened and closed in partitions, improving the cleaning efficiency and output.

The utility model belongs to the technical field of light-weight machining equipment, and particularly relates to a light-weight compact double-rotor common-rail parallel movement mechanism. A light-weight compact double-rotor common-rail parallel movement mechanism comprises a motor rail, a common-rail motor set, a cutter installation assembly and a connecting assembly, the cutter installation assembly is installed on the common-rail motor set through the connecting assembly, the common-rail motor set is movably connected to the motor rail, and the common-rail motor set comprises at least two common-rail motors. Each common rail motor is connected with the connecting assembly; the utility model provides a light-weight compact double-rotor common-rail parallel movement mechanism, and aims to solve the problems of a multi-rotor movement mechanism in the prior art in the aspects of structural complexity, weight, space utilization, expansibility and the like.

The present invention relates to a robot grinding and polishing trajectory correction method and system based on coordinate system integration, which is applied to the adaptive grinding and polishing process of the inner and outer boundaries of characteristic surfaces with variable processing directions such as circles and broken lines, such as aircraft thin-walled plates. The method adopts an offline trajectory planning method to calculate the processing path, and can generate a robot-executable processing program after post-processing. During the processing, in order to adapt to the deformation of the thin-walled parts, the planned trajectory is corrected in real time according to the contact force value between the tool and the workpiece. During the correction, the correction coordinate system of the current processing point is set according to the movement direction of the processing point, and the robot posture is adjusted on the basis of the correction coordinate system. Reasonable setting of the correction coordinate system direction can ensure that the robot grinding tool moves away from or close to the grinding position along a fixed direction of the correction coordinate system, and realizes the parallel movement of the grinding tool center and the grinding feature boundary, while avoiding the problems of large-scale changes in the robot posture and uneven processing line speed, so as to achieve the purpose of continuous and uniform adaptive processing of variable boundary paths.

The invention relates to the technical field of magnetic micro-robot driving and control, in particular to a hybrid robot system for flexibly driving a magnetic micro-robot and a control method thereof.The hybrid robot system comprises a hybrid robot and a control system.The hybrid robot comprises a mechanical arm, and the output end of the mechanical arm is connected with a magnetic control driving assembly; the magnetic control driving assembly comprises a six-degree-of-freedom parallel motion platform assembly, the output end of the six-degree-of-freedom parallel motion platform assembly is connected with a movable joint, and the output end of the movable joint is detachably connected with a permanent magnet assembly; the control system comprises a man-machine interaction device, an integrated control module, a measurement module and an image acquisition module. The six-degree-of-freedom series mechanical arm, the six-degree-of-freedom parallel motion platform and the rotary joint are ingeniously combined together, so that the hybrid robot has high control precision and high operation flexibility while having a large working space, and a larger driving area and more flexible operation can be provided for a magnetic micro robot.

This invention relates to the field of parallel motion platform technology for flight simulation, and discloses a multi-degree-of-freedom flight simulation motion platform and its control method. The flight simulation motion platform includes a base and a motion platform. The motion platform is connected to the base through three evenly arranged motion mechanisms. Each motion mechanism includes a support seat, an inverted U-shaped support arm, a rotating shaft, a drive assembly, and a precision control assembly. A connecting seat is vertically fixed at the upper end of the inverted U-shaped support arm. Three corresponding inverted U-shaped seats are evenly fixed on the lower surface of the motion platform. A fixing rod is horizontally fixed inside each inverted U-shaped seat, and the fixing rod is connected to the inverted U-shaped seat through a ball joint. The multi-degree-of-freedom flight simulation motion platform proposed in this invention exhibits good motion continuity, good simulation of continuous flight motion states, and excellent accuracy and stability.

The utility model relates to a part fast relative measuring device for a machining production line, the part fast relative measuring device for the machining production line comprises a rack, a parallel motion mechanism, a measuring mechanism and a workpiece pick-and-place mechanism, the rack is provided with a pick-and-place table, the workpiece pick-and-place mechanism is arranged on the pick-and-place table, the parallel motion mechanism is arranged on the rack, and the measuring mechanism is arranged on the rack. The measuring mechanism is located above the workpiece taking and placing mechanism, the measuring mechanism is arranged on the parallel movement mechanism, the workpiece taking and placing mechanism is used for placing workpieces, and the parallel movement mechanism is used for driving the measuring mechanism to move so as to measure the workpieces. According to the utility model, through the cooperation of the parallel movement mechanism, the measuring mechanism and the workpiece taking and placing mechanism, the rapid and accurate measurement of the workpiece is realized, the conventional workpiece measuring equipment is replaced, and the convenience and the measuring precision of the workpiece measurement are improved.

The utility model provides a roller spacing adjusting mechanism of a wave roller machine. The roller spacing adjusting mechanism mainly comprises a spacing adjusting base frame, a hydraulic driving assembly and a two-way lead screw. According to the mechanism, the straight toothed bar piston in the hydraulic driving assembly is used for driving the four bidirectional lead screws to synchronously and linearly move, so that the precise adjustment of the roller spacing is realized. In the adjusting process, the first roller seat and the second roller seat can move in parallel, and the adjusting stability is ensured. Meanwhile, when the clutch pin rod of the electric push rod structure is meshed with the meshing tooth groove, rotation locking of the inner side of the first roller seat and the inner side of the second roller seat can be achieved, synchronous adjustment of the roller distance is guaranteed, when the clutch pin rod retreats and is disengaged from the meshing tooth groove, non-synchronous movement can be achieved, and the flexibility of roller distance adjustment is improved. By means of accurate synchronous adjustment and flexible asynchronous adjustment, the problems that a traditional wave roller machine is unstable in roller spacing adjustment and low in adjustment precision are solved, the adjustment precision of equipment is improved, and the service life of the equipment is prolonged.

The invention provides a high-stability dual-drive unlocking and locking mechanism, and belongs to the technical field of mechanical locks. The mechanism comprises a first transmission part, a second transmission part and a fixing part. The first transmission part is provided with a driving tenon, a mandrel and a power input structure; the second transmission piece is provided with a T-shaped through groove-shaped driven mortise, a first guide groove and a second guide groove, wherein the first guide groove and the second guide groove are parallel to each other; the driving tenon is of a rectangular boss structure and is embedded into the driven tenon groove to transmit torque, and abrasion is greatly reduced through surface contact. The mandrel penetrates through the first guide groove in a sliding mode, a step-shaped guide pin on the fixing component penetrates through the second guide groove in a sliding mode, two parallel movement paths are formed, and it is guaranteed that a spring bolt on the second transmission piece stretches out and draws back precisely and linearly. The base body and the mandrel are coaxial, the diameter is larger, and the base body and the mandrel are matched with the fixing component to form first axial limiting. And the step-shaped guide pin is matched with the second guide groove to form a second axial limit, so that the axial movement is thoroughly inhibited, and the stability is obviously improved.

This application relates to the field of materials processing technology, providing a method for processing material mechanical fatigue performance specimens. The method includes: fixing multiple specimens in a clamping position of a processing device; winding water-softened sandpaper onto a grinding rod to form a cylindrical structure for grinding; reciprocating parallel motion of the cylindrical rod along the longitudinal direction of the specimen, removing machining marks from the specimen surface through friction between the cylindrical rod surface and the working surface of the specimen; uniformly applying polishing paste to the surface of the specimen after the above steps, and using degreased cotton or an equivalent flexible medium to drive the polishing paste to rub against the specimen surface, using the abrasive in the polishing paste to precisely grind the specimen surface until a mirror finish and predetermined dimensions are obtained. This method completely changes the traditional method's limitations of processing specimens individually, resulting in low efficiency and difficulty in ensuring consistency. It is particularly suitable for research scenarios requiring the preparation of large quantities, repetitive, and high-quality specimens, shortening the preparation cycle by several times.

Device for guiding tools (14) on a workpiece (11) parallel to a workpiece edge (18), comprising: • a guide rail (12) along which the tool (14) can be moved linearly, • a one-piece or multi-piece spacer, • a one-piece or multi-piece workpiece stop, • a one-piece or multi-piece coupling element for detachably connecting the spacer to the guide rail (12), characterized in that the workpiece stop is attached to the spacer and is guided exactly parallel to the longitudinal axis of the guide rail (12) and can be fixed at selectable intervals between the workpiece edge (18) and the longitudinal axis of the guide rail (12).

The embodiment of the utility model provides a paper stack pressing device, which comprises a supporting part, a pressing part and a pressing part, the pressing assembly comprises a pressing disc arranged opposite to the supporting face in a spaced mode, an actuating device used for enabling the pressing disc to move towards the supporting face, and a lower push rod connected with the pressing disc and the actuating device. The limiting assembly comprises a limiting block with a middle hole, a guide rod arranged in the middle hole in a penetrating mode and a limiting stopper, the guide rod is in linkage with the lower push rod, when the pressing disc moves towards the supporting face, the limiting stopper moves along with the pressing disc and abuts against the limiting block, the limiting stopper is arranged on the guide rod in a sleeving mode, and the position of the limiting stopper on the guide rod is adjustable. Pressure is directly applied in the height direction of the paper stack through the pressing disc, and the paper stack is kept at the fixed position in the pressure applying process, so that the paper stack cannot be dislocated due to different heights of all corners, and meanwhile, the paper stack does not do translational motion in the pressing process, so that the paper stack cannot be dislocated or loosened due to motion.

The invention belongs to the technical field of multi-degree-of-freedom motion training platforms, and particularly relates to a six-degree-of-freedom self-collaborative parallel motion training platform and a control method thereof. The practical training platform comprises the following parts: a lower supporting plate frame used for supporting and connecting, an upper moving plate frame used as an actual equipment or equipment mounting area, a limiting frame used for protecting and supporting, and a parallel electric cylinder used for realizing input and output control. The device is used for providing the functions of platform vibration and swing and the like according to the marine application environment in the marine equipment practical training simulation process so as to simulate the real states of various marine equipment in the ship and other use environments, so that trainees can complete the operation and use of the equipment under the condition closer to the real environment background, and the adaptability of the trainees in the real environment is improved.

The utility model provides a parallel movement mechanism for a measuring head sensor of a precision measuring instrument, and belongs to the field of precision measurement. The utility model aims to improve the stability of a parallel movement mechanism and ensure the accuracy of precise measurement results. The device comprises a moving mechanism fixed plate, a bowl-shaped bearing, a rolling shaft and a moving mechanism movable plate, the whole movement mechanism fixing plates are of an I-shaped structure, the two movement mechanism fixing plates are arranged in parallel, and bowl-shaped bearings are arranged on the inner sides of the ends of the movement mechanism fixing plates. The two moving mechanism movable plates are arranged in parallel and define a rectangle with the moving mechanism fixed plate, and the two ends of the rolling shaft are of conical structures and penetrate through the moving mechanism movable plates to be connected with the bowl-shaped bearings. According to the utility model, the problem that a traditional elastic leaf spring generates resilience force due to deformation and is superposed with measuring force is solved, the novel mechanism is matched with the double-tip rolling shaft through the bowl-shaped bearing, the elastic resilience force is eliminated, the measuring force is only determined by external loading, the dynamic interference of the structure of the mechanism on the measuring force is avoided, and the stability and controllability of the measuring force are ensured.

The invention relates to the technical field of X-ray detection, in particular to telescopic and swinging parallel motion supporting equipment which comprises a mounting plate, a supporting assembly, a control assembly, a limiting assembly and a mounting assembly. The supporting assembly comprises a supporting plate, connecting bases, large arms, small arms and a supporting shaft, the supporting plate is fixedly connected with the mounting plate, the two connecting bases are fixedly connected with the supporting plate and located on the outer side of the supporting plate respectively, the two large arms are rotationally connected with the connecting bases respectively and located on the outer sides of the connecting bases respectively, and the two small arms are rotationally connected with the large arms respectively; the two supporting shafts are rotationally connected with the small arm and penetrate through the small arm, the control assembly and the limiting assembly to be connected with the large arm, and the installation assembly is connected with the supporting shafts. And CT scanning and DR imaging are not conveniently carried out on the local part of the workpiece.

The application discloses a parallel platform and a control method thereof, and relates to the technical field of ship and ocean engineering. The control method comprises the following steps: predicting a pose error of a floating platform caused by sea state disturbance at a next moment as a sea state disturbance error by using a pre-set sea state disturbance error prediction model according to historical monitoring results of sea state disturbance parameters; obtaining an error of a current pose of the floating platform relative to a target pose of the floating platform as a current tracking error; and controlling a parallel motion branch to adjust the floating platform according to the target pose, the predicted sea state disturbance error at the next moment and the current tracking error, so that the pose of the floating platform at the next moment is maintained in a neighborhood of the target pose. The application can improve the stability of the aircraft in the sea state of the marine environment.

The invention discloses a three-axis parallel motion platform error calibration method and device and a storage medium, and belongs to the technical field of high-precision motion control, and the method comprises the steps: obtaining the actual accumulated displacement of a three-axis parallel motion platform and the actual feeding amount of a drive motor, so as to construct a calibration data set; based on a theoretical kinematics equation, a multi-error coupling kinematics model is established by coupling various error parameters, and the various error parameters comprise a shaft foot initial position error parameter, a driving motor inclination and scale factor error parameter and a top surface inclination error parameter; various error parameters are optimized according to the calibration data set, so that the root-mean-square error between the actual feed amount and the drive motor feed amount calculated by the multi-error coupling kinematics model is minimum; and substituting the optimized error parameter group into the multi-error coupling kinematics model to obtain the compensated feed amount of the driving motor. According to the invention, collaborative calibration and unified compensation of multiple physical error sources are realized.