新型二自由度并联机构运动学标定方法

精度不足制约着并联机构的发展，传统的并联机构运动学标定方法可以在一定程度上提高并联机构的精度，但 其缺点在于对测量仪器的要求较高，计算量较大。针对一种新型二自由度并联机构，运用无参数化标定的方法对机构进 行运动学标定。该方法不需要进行参数辨识，只需要通过外部测量设备测出机械手末端执行器的位姿，利用运动学正反 解解出实际位姿与期望位姿之间驱动输入的差值，补偿到理论的输入中，即可得到补偿后的动平台位姿。计算机仿真结 果表明，这种方法可以有效地提高动平台定位精度，证明了无参数化标定方法的有效性和可靠性。

Kinematic Calibration of Novel 2-DOF Parallel Mechanism

Parallel mechanism has advantages of high stiffness, high load capacity, high precision. etc. For these reasons. it plays an extremely important role in the industrial fields. However. the limitation of accuracy often hinders the development of parallel mechanism. The traditional kinematic calibration method has been used to improve the accuracy of parallel mechanism. but the drawback is high demanding of measuring instrument and large amount of calculation. A novel 2-DOF Parallel mechanism and no parametric calibration method for kinematic calibration were presented. Parameter identification is not needed by this method, only through external measuring equipment to measure the position of manipulator actuator. The difference between actual position and expected position is obtained by solving direct kinematics and inverse kinematics. Then the moving platform of posture can be compensated. The computer simulation results show that this method can effectively improve the positional accuracy of the moving platform. The validity and reliability of the mentioned method is verified by simulation.