Parallel Robot Motion Parameters Of Non-contact Measurement Model

This paper has studied three kinds of physical model and math model ofexternal calibration measurement model of multi,channels CCD system for 6.—THRT parallel robot. It studied how to calculate the actual dimension withthe dimension of the image gained from CCD and math relationship of theprojective dimension and location and position of upper platform of the robot.First, itdesigned three-channel CCD measure system and five-channelCCD system according to the characteristic of the robot. Besides theintroduction of the construction of the calibration measurement model, thepaper has also analyzed and compared these three models and learned themerit and demerit of the models, then choose the appropriate one accordingto the character of the robotAt last, this paper showed procedure of the experiment following thecalibration measurement model and the procession of the image and data andthe last result. Finish the preparation of the study of the precision andcalibration.