Stewart平台位姿误差分析与标定研究

发布时间：2018-03-27 20:05

本文选题：Stewart平台　切入点：误差建模　出处：《西安电子科技大学》2014年硕士论文

【摘要】：位姿精度是并联机器人的重要性能指标。对并联机器人进行位姿误差分析并加以补偿，是并联机器人研究领域的热点和难点问题。本文根据新一代大射电望远镜光机电一体化创新设计方案，在分析大射电望远镜三级调整系统需求的基础上，以Stewart平台为研究对象，，进行位姿误差分析与标定研究。通过闭环矢量法，利用并联机器人输入输出关系，建立基于运动学逆解的Stewart平台位姿误差模型；利用牛顿-拉弗森方法求解Stewart平台的运动学正解，建立基于运动学正解的Stewart平台位姿误差模型。利用运动学逆解位姿误差模型，用Matlab编写误差分析程序，对Stewart平台位姿误差进行分析，总结误差影响规律，得到影响Stewart平台精度的主要因素。以基座平台、运动平台铰链点位置误差、驱动支杆杆长误差作为标定参量，建立标定模型，利用运动学逆解和运动学正解相结合的标定算法进行循环计算。利用API Tracker3TM激光跟踪仪对Stewart平台进行数据测量得到位姿数据，通过数据处理，用标定算法进行循环计算，得到机构参数误差，进行误差补偿。标定后再次测量Stewart平台位姿，并绘制标定前后位姿误差图，根据精度评定指标，考察标定效果。
[Abstract]:The pose precision is the important performance index of the parallel robot . The pose error analysis of the parallel robot and compensation are the hot topics and difficult problems in the research field of the parallel robot . Based on the analysis of the requirements of the three - level adjustment system of the large radio telescope , this paper takes the Stewart platform as the research object to study the pose error analysis and calibration based on the analysis of the demand of the three - level adjustment system of the large radio telescope .

According to the closed - loop vector method , the Stewart platform pose error model based on kinematic inverse solution is established by using the input - output relationship of the parallel robot ;
The kinematics positive solution of Stewart platform is solved by using Newton - Raphson method , and a Stewart platform pose error model based on kinematics is established .

Using the error model of kinematic inverse kinematics , the error analysis program was written by Matlab . The error of the position and attitude of Stewart platform was analyzed , and the error influence law was summarized , and the main factors influencing the precision of Stewart platform were obtained .

Based on the position error of the base platform , the hinge point of the moving platform and the long error of the driving rod as the calibration parameter , the calibration model is established , and the calibration algorithm combining the kinematic inverse solution and the kinematic positive solution is used to carry out the circular calculation .

Using the API Tracker3TM laser tracker to measure the data of the Stewart platform to obtain the pose data , the calibration algorithm is used to calculate the parameters of the Stewart platform by the data processing , and the error compensation is carried out . After the calibration , the Stewart platform pose is measured again , and the calibration effect is examined according to the accuracy evaluation index .

【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP242;TH751

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