关键词: 标定, 并联机构, 参数辨识, 测量

Abstract: A kind of simple measurement scheme is designed for the measurement in the calibration of translational parallel mechanisms(TPMs). This scheme is based on parameter identifiability analysis. According to the output of error model and the degree of freedom(DOF) of mechanism, basic measurement methods mainly used in practical engineering are listed. Then the identifiability analysis is carried out on each of the measurement methods. Taking the measurement cost into account, parameter identification integrity and capability, a simple measurement scheme is determined through comparison and integration. By using the above method, a simple measurement scheme for the calibration of a 2-DOF TPM is designed. The simulation results show that the method is practicable and effective. The measurement scheme resulted from the method is simple and easy to implement, and its idea is suitable to the calibration of all kinds of TPMs in the engineering environment.

Key words: Calibration, Measurement, Parallel mechanism, Parameter identification