Kinematics Calibration of 3-PURU/S Parallel Stabilized Platform Based on Adaptive Genetic Algorithm

doi:10.3901/JME.2025.09.264

Abstract

Abstract: A kinematics calibration method of parallel mechanism based on adaptive genetic algorithm is proposed, and the 3-PURU/S parallel stabilized platform is used as the research object. The forward kinematics model of the mechanism was established by using the finite-step-integration method. The geometric error model of the mechanism was established by using the closed-loop vector equation. The error sensitivity index was established based on the error mapping matrix. The DETMAX algorithm optimized by tabu search algorithm is used to find a set of optimal pose. Using adaptive genetic algorithm as error parameter identification algorithm, the numerical simulation of the mechanism is carried out. It is found that the average error is reduced by more than 80% after kinematic calibration. Finally, the prototype of the mechanism is made for experimental verification. The results of simulation and calibration experiments show that the error calibration algorithm of parallel mechanism proposed is effective, and the error of moving platform is greatly reduced after calibration, which provides a reference for the kinematics calibration research of parallel mechanism.

Key words: parallel mechanism, stabilized platform, forward kinematics, kinematic calibration, adaptive genetic algorithm, parameter identification

CLC Number:

TP242

HAN Bo, JIA Zizhao, JIANG Yuan, MAO Yameng, HAN Meng, YAO Jiantao. Kinematics Calibration of 3-PURU/S Parallel Stabilized Platform Based on Adaptive Genetic Algorithm[J]. Journal of Mechanical Engineering, 2025, 61(9): 264-276.

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