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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >An Experimental Study on the Dynamics Calibration of a 3-DOF Parallel Tool Head
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An Experimental Study on the Dynamics Calibration of a 3-DOF Parallel Tool Head

机译：三自由度并联刀头动力学标定的实验研究

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摘要

In this article, by taking a 3-DOF parallel tool head as an object of study, a dynamics calibration method is investigated to improve the calculation accuracy of driving forces and dynamic parameters. First, the dynamic model of the parallel tool head is established in joint space, and the dynamics prediction problem is described through a typical reciprocating feed motion experiment on a prototype. Next, a decoupled polynomial model is proposed to fit dynamic parameter in workspace, which is used to solve the parameters coupling problem of parallel mechanism, and related simulations are further given to validate the reasonability and determine the optimum order of the polynomial model. Finally, a complete dynamics calibration experiment is designed considering the characteristic of the decoupled fitting model, and all actual coefficients are obtained. Moreover, some verification experiments are performed at the nontest positions, and the results show that the calculation results at these nontest positions are consistent very well with the actual values by using the calibrated model, which proves the effectiveness of the proposed dynamics calibration method.
机译：本文以三自由度并联刀架为研究对象，研究了一种动力学标定方法，以提高驱动力和动力学参数的计算精度。首先，在关节空间中建立了平行刀头的动力学模型，并通过在原型上进行的典型往复进给运动实验描述了动力学预测问题。其次，提出了一种适合工作空间动态参数的解耦多项式模型，用于解决并联机构的参数耦合问题，并通过相关的仿真验证了模型的合理性，确定了多项式的最优阶。最后，考虑了去耦拟合模型的特点，设计了一个完整的动力学校准实验，并获得了所有实际系数。此外，在非测试位置进行了一些验证实验，结果表明，通过使用校准模型，在这些非测试位置的计算结果与实际值非常吻合，证明了所提出的动力学校准方法的有效性。

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