CAJ | 학술논문

为了研究并联六自由度机构不同标定方法的适用性，依据运动学标定和动力学标定，分别建立了并联六自由度机构的标定模型，并通过数值仿真对标定效果进行对比分析。结果表明：运动学标定方法对提高机构运动正解精度更为有效，正解误差比动力学标定的结果小4．9％，有利于传统的基于关节空间的并联机构控制策略；动力学标定方法对提高机构动力学模型精度更为有效，关节驱动力误差比运动学标定的结果小5～25 N，更适合基于工作空间的并联机构控制策略。
위료연구병련륙자유도궤구불동표정방법적괄용성，의거운동학표정화동역학표정，분별건립료병련륙자유도궤구적표정모형，병통과수치방진대표정효과진행대비분석。결과표명：운동학표정방법대제고궤구운동정해정도경위유효，정해오차비동역학표정적결과소4．9％，유리우전통적기우관절공간적병련궤구공제책략；동역학표정방법대제고궤구동역학모형정도경위유효，관절구동력오차비운동학표정적결과소5～25 N，경괄합기우공작공간적병련궤구공제책략。
In order to study the usability of different calibration methods for the 6-DOF ( six degrees of freedom) parallel mechanism, calibration models of the mechanism were established on the basis of kinematic and the dynam-ic calibrations.The comparative analyses of kinematic and the dynamic calibrations were done by the numerical sim-ulation .The results showed that the kinematic calibration is more effective in improving forward solution precision of the mechanism.It is also shown that the forward solution error is 4.9%less than that of the dynamic calibration, which is beneficial to the conventional joint-space control of parallel mechanism.The dynamic calibration is more effective in improving dynamic model precision of the mechanism and joint force error is 5~25 N less than that of the kinematic calibration, which is suitable for the task-space control strategy of parallel mechanism.