五自由度气动探针校准机构的误差分析与补偿
首发时间:2019-04-26
摘要:为了满足探针校准过程中的高精度要求,采用摄动误差补偿法对一套五自由度气动探针校准机构的误差进行补偿。基于该探针校准机构运动学的正逆解,利用微分法建立探针校准机构误差模型并得到其末端位姿误差计算式,再采用摄动法对其末端位姿误差进行补偿并详细阐述了该方法的误差补偿步骤。以五自由度气动探针校准机构的偏航和俯仰两个角度姿态为例进行误差补偿试验,证明了该补偿方法的有效性,为后续机构的调试提供了理论基础。
关键词: 五自由度 气动探针校准机构 误差分析与补偿 摄动法
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Error Analysis and Compensation of Five-DOF Pneumatic Probe Calibration Mechanism
Abstract:In order to satisfy the requirement of high precision in the process of probe calibration, the perturbation error compensation method is used to compensate the error of the five-degree-of-freedom pneumatic probe calibration mechanism. Based on the forward and inverse kinematics of the probe calibration mechanism, the error model of the probe calibration mechanism is established by differential method, and the calculation formula of the terminal position and attitude errors is obtained. Then the terminal position and attitude errors is compensated by perturbation method, and the error compensation steps of the method are described in detail. Taking the yaw and pitch attitude of the five-degree-of-freedom pneumatic probe calibration mechanism as an example, the error compensation experiment is carried out, which Error Analysis and Compensation Error Analysis and Compensation of Five-DOF Pneumatic Probe Calibration Mechanismof Five-DOF Pneumatic Probe Calibration Mechanismproves the effectiveness of the compensation method. This method provides a theoretical basis for the debugging of the follow-up mechanism.
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