| This dissertation dealt with the kinematic calibration of a novel parallelmanipulator with full circle rotation, including kinematic analysis, error modeling,error sensitivity analysis, parameter identification, kinematic calibration and test. Themain research achievements are as follows:On the basis of kinematic analysis, the error model of the parallel manipulator wasformulated by the space vector chain method. According to the parallelogramstructure, the position error mapping model and the rotation error mapping modelwere established through the mathematical transformation. Regarded the sensitivityof the whole workspace as the evaluation index, all error source were analyzed,and the relationship between geometric error parameters and accuracy of theend-effector was determined, which provided reference for the design ofmechanical part tolerance.Based on the measurement of DDB, the parameters identification was put forward.The measuring trajectory was determined by the translation freedom of theend-effetor and identifiability. The computer simulation was carried out, whichshowed that the identification error was infinitesimal of higher order of thetheoretical value. The simulation validated the effectiveness of the parametersidentification.Error compensation was proposed by modifying the inputs, and kinematicscalibration and experiment verification were developed. The test was carried out byregarding the position of end-effector as the compensation source, the results ofwhich showed that the error reduced65%after compensation, and it wascoincident with the simulation. The test verified the effectiveness of kinematicscalibration method. |
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