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CN113183137A - Parameter calibration device and method for six-degree-of-freedom parallel mechanism - Google Patents

Parameter calibration device and method for six-degree-of-freedom parallel mechanism Download PDF

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CN113183137A
CN113183137A CN202110605493.1A CN202110605493A CN113183137A CN 113183137 A CN113183137 A CN 113183137A CN 202110605493 A CN202110605493 A CN 202110605493A CN 113183137 A CN113183137 A CN 113183137A
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parallel mechanism
degree
freedom parallel
parameter calibration
nominal
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CN113183137B (en
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贾平
杨利伟
董得义
鲍赫
杨会生
樊延超
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture

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Abstract

本发明涉及一种六自由度并联机构参数标定装置及方法，其中参数标定装置包括位移传感器、传感器座、被测基准块、支架和参数标定计算模块；传感器座包括三个相互正交的平面，三个平面上分别固定有1个、2个和3个位移传感器，且位移传感器的测杆轴线与对应的平面垂直，传感器座通过支架固定在六自由度并联机构的定平台上；被测基准块包括与三个平面一一对应的三个相互正交的基准平面，且位移传感器的触头均与对应的基准平面接触，被测基准块固定在六自由度并联机构的动平台顶部；参数标定计算模块对六自由度并联机构的参数进行标定与补偿。本发明六自由度并联机构参数标定装置具有成本低廉、操作简洁、省时省力、标定效率较高等优点。

Figure 202110605493

The invention relates to a parameter calibration device and method for a six-degree-of-freedom parallel mechanism, wherein the parameter calibration device includes a displacement sensor, a sensor base, a measured reference block, a bracket and a parameter calibration calculation module; the sensor base includes three mutually orthogonal planes, 1, 2 and 3 displacement sensors are respectively fixed on the three planes, and the measuring rod axis of the displacement sensor is perpendicular to the corresponding plane, and the sensor seat is fixed on the fixed platform of the six-degree-of-freedom parallel mechanism through the bracket; the measured reference The block includes three mutually orthogonal reference planes corresponding to the three planes one-to-one, and the contacts of the displacement sensor are all in contact with the corresponding reference planes, and the measured reference block is fixed on the top of the moving platform of the six-degree-of-freedom parallel mechanism; parameters The calibration calculation module calibrates and compensates the parameters of the 6-DOF parallel mechanism. The parameter calibration device of the six-degree-of-freedom parallel mechanism of the invention has the advantages of low cost, simple operation, time saving and labor saving, high calibration efficiency and the like.

Figure 202110605493

Description

Parameter calibration device and method for six-degree-of-freedom parallel mechanism
Technical Field
The invention relates to the technical field of mechanics, in particular to a parameter calibration device and method for a six-degree-of-freedom parallel mechanism.
Background
The six-degree-of-freedom parallel mechanism has the advantages of high precision, high rigidity, no accumulated error and the like, and is widely applied to the fields of fine adjustment, ultra-precision machining and the like of optical elements.
Due to the existence of processing and assembling errors, certain deviation exists between the actual structural parameters and the theoretical structural parameters of the six-degree-of-freedom parallel mechanism, so that certain deviation exists between a kinematic model established according to the theoretical parameters and an actual structure. The machining error of the structural part can be reduced by adopting a high-precision machine tool, but the cost is high, and the error is compensated by parameter calibration, so that the method is low in cost and effective.
In the calibration process of the six-degree-of-freedom parallel mechanism, the pose of the six-degree-of-freedom parallel mechanism needs to be measured. At present, three-coordinate measuring machines, measuring arms, laser trackers, laser interferometers and other equipment are mostly adopted for pose measurement, and although the equipment has the characteristics of high precision, wide adaptability and the like, the equipment is expensive in manufacturing cost, time-consuming and labor-consuming in operation, high in operation requirement and inconvenient in application, so that the calibration efficiency is low, and particularly, the parallel mechanism with a large working space is more obvious. Some poses of the moving platform may not be measured due to space limitations, and satisfactory measurement data is difficult to obtain when the moving platform changes poses within a large working space. Therefore, it is necessary to consider other simple and efficient pose measurement means and improve the calibration efficiency.
Disclosure of Invention
Therefore, it is necessary to provide a simple and efficient parameter calibration device and method for a six-degree-of-freedom parallel mechanism to solve the problems of high cost, time and labor consuming operation, low calibration efficiency, low calibration precision and the like of the calibration method for the six-degree-of-freedom parallel mechanism in the prior art, so as to achieve the purposes of reducing cost, simplifying calibration process and improving calibration efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a parameter calibration device for a six-degree-of-freedom parallel mechanism comprises a displacement sensor, a sensor seat, a measured reference block, a support and a parameter calibration calculation module;
the sensor seat comprises three mutually orthogonal planes, 1,2 and 3 displacement sensors are respectively fixed on the three planes, the axes of measuring rods of the displacement sensors are vertical to the corresponding planes, and the sensor seat is fixed on a fixed platform of a six-degree-of-freedom parallel mechanism through the bracket;
the measured reference block comprises three mutually orthogonal reference planes which correspond to the three planes one by one, contacts of the displacement sensor are in contact with the corresponding reference planes, and the measured reference block is fixed at the top of the movable platform of the six-degree-of-freedom parallel mechanism;
the parameter calibration calculation module acquires actual values of the expansion amount of each displacement sensor when the six-degree-of-freedom parallel mechanism is in different poses, determines the optimal structure parameter error of the six-degree-of-freedom parallel mechanism according to the actual values of the expansion amount, and calibrates and compensates the parameters of the six-degree-of-freedom parallel mechanism according to the optimal structure parameter error.
The invention also provides a parameter calibration method based on the six-degree-of-freedom parallel mechanism parameter calibration device, wherein the parameter calibration calculation module is used for executing the parameter calibration method, and the parameter calibration method comprises the following steps:
s1: presetting an initial value of a structural parameter of the six-degree-of-freedom parallel mechanism, and adding a corresponding structural parameter error to the structural parameter of the six-degree-of-freedom parallel mechanism;
s2: presetting an initial value of a structural parameter of the six-degree-of-freedom parallel mechanism parameter calibration device, and adding a corresponding structural parameter error to the structural parameter of the six-degree-of-freedom parallel mechanism parameter calibration device;
s3: presetting nominal poses of a movable platform of a six-degree-of-freedom parallel mechanism, wherein the number of the nominal poses is greater than or equal to a lower limit value;
s4: calculating the nominal value of the expansion amount of each displacement sensor under each nominal pose;
s5: driving a six-degree-of-freedom parallel mechanism by using a controller to enable the movable platform to move to each nominal pose, and recording the actual value of the expansion amount of each displacement sensor under each nominal pose;
s6: the actual value of the expansion amount of each displacement sensor under each nominal pose is subtracted from the nominal value of the expansion amount to obtain an indication value error of each displacement sensor under each nominal pose;
s7: constructing a mathematical model of an optimization problem by taking the minimum sum of squares of indication errors of all the displacement sensors as an objective function and taking structural parameter errors of the six-degree-of-freedom parallel mechanism and the six-degree-of-freedom parallel mechanism parameter calibration device as design variables;
s8: searching out the optimal solution of the mathematical model by using advanced optimization software;
s9: and substituting the optimal solution obtained by searching into a mathematical model of the six-degree-of-freedom parallel mechanism to realize parameter calibration and compensation of the six-degree-of-freedom parallel mechanism.
Compared with the prior art, the invention has the following beneficial effects:
1) low cost
The six-degree-of-freedom parallel mechanism parameter calibration device mainly comprises the following components: compared with expensive instruments such as a three-coordinate measuring machine, a laser tracker and the like, the six high-precision displacement sensors, the measured reference block and the sensor seat have extremely low cost;
2) simple operation
Before calibration, parameter calibration can be carried out only by fixing a measured reference block on a movable platform of the six-degree-of-freedom parallel mechanism, fixing a displacement sensor on a sensor seat and fixing the sensor seat on a fixed platform of the six-degree-of-freedom parallel mechanism through a support; during calibration, only the controller of the six-degree-of-freedom parallel mechanism needs to be operated, and a parameter calibration device of the six-degree-of-freedom parallel mechanism does not need to be operated, so that the whole calibration process is simple to operate, and time and labor are saved;
3) high calibration efficiency
As long as the end pose of the six-degree-of-freedom parallel mechanism is changed, the measured value of the displacement sensor, namely the actual value of the stretching amount, can be instantly obtained, the pose does not need to be solved, the actual value of the stretching amount of the displacement sensor is subtracted from the nominal value of the stretching amount, the difference is substituted into advanced optimization software, the optimal structure parameter error of the six-degree-of-freedom parallel mechanism can be calculated in a short time, and the parameter calibration efficiency is greatly improved.
Drawings
FIG. 1 is a schematic structural diagram of a parameter calibration apparatus for a six-degree-of-freedom parallel mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the sensor mount and bracket of FIG. 1 shown without the sensor mount and bracket;
FIG. 3 is a schematic view of the displacement sensor of FIG. 1 in relation to the sensor receptacle;
FIG. 4 is a schematic diagram of the relationship between the displacement sensor and the reference block to be measured in FIG. 1;
FIG. 5 is a schematic flow chart illustrating a method for calibrating parameters of a six-degree-of-freedom parallel mechanism according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be described in detail with reference to the accompanying drawings and preferred embodiments.
In one embodiment, as shown in fig. 1 to 4, the present invention discloses a parameter calibration apparatus for a six-degree-of-freedom parallel mechanism, which mainly comprises: the six displacement sensors are respectively a displacement sensor 1-a displacement sensor 6, a sensor seat 7, a measured reference block 8, a support 9 and a parameter calibration calculation module.
Specifically, the sensor seat 7 comprises three mutually orthogonal planes which are a plane 7-1, a plane 7-2 and a plane 7-3 respectively, the plane 7-1 is fixedly provided with the displacement sensor 1, the displacement sensor 2 and the displacement sensor 3, the plane 7-2 is fixedly provided with the displacement sensor 4 and the displacement sensor 5, the plane 7-3 is fixedly provided with the displacement sensor 6, and the axes of measuring rods of the displacement sensor 1 to the displacement sensor 6 are vertical to the corresponding planes. The sensor seat 7 is fixed on a fixed platform 10 of the six-degree-of-freedom parallel mechanism through a support 9, and the sensor seat 7 and the support 9 are not in contact with a movable platform 11 of the six-degree-of-freedom parallel mechanism.
Preferably, the displacement sensor in this embodiment is a grating displacement sensor, which has the characteristics of large detection range, high detection precision and fast response speed, for example, a czech ESSA grating displacement sensor SM30 series may be used.
Optionally, the sensor seat 7 is a hollow cuboid or cube with an open bottom, and the inner hollow of the cuboid or cube is used for accommodating the measured reference block 8.
The measured reference block 8 comprises three mutually orthogonal reference planes which are respectively in one-to-one correspondence with the planes 7-1, 7-2 and 7-3 and are respectively a reference plane 8-1, a reference plane 8-2 and a reference plane 8-3, and the contacts of the displacement sensors are in contact with the corresponding reference planes, namely the contacts of the displacement sensors 1,2 and 3 are in contact with the reference plane 8-1 of the measured reference block 8, the contacts of the displacement sensors 4 and 5 are in contact with the reference plane 8-2 of the measured reference block 8, and the contact of the displacement sensor 6 is in contact with the reference plane 8-3 of the measured reference block 8. The measured reference block 8 is fixed on the top of a movable platform 11 of the six-degree-of-freedom parallel mechanism.
Optionally, the measured reference block 8 is a cuboid or a cube, and the measured reference block 8 may have a solid structure or a hollow structure, which is not limited herein.
Optionally, the sensor seat 7 and the measured reference block 8 are made of cast iron, and the bracket 9 is made of 45 # steel, so that the sensor seat has the advantages of high strength, difficulty in deformation and the like.
The parameter calibration calculation module acquires the actual values of the stretching amounts of the displacement sensors when the six-degree-of-freedom parallel mechanism is in different poses, determines the optimal structure parameter error of the six-degree-of-freedom parallel mechanism according to the actual values of the stretching amounts, and calibrates and compensates the parameters of the six-degree-of-freedom parallel mechanism according to the optimal structure parameter error.
The parameter calibration device for the six-degree-of-freedom parallel mechanism provided by the embodiment has the advantages of low cost, simplicity in operation, time and labor saving, high calibration efficiency and the like.
In another embodiment, the present invention provides a method for calibrating parameters of a six-degree-of-freedom parallel mechanism, which is implemented based on the parameter calibration apparatus of a six-degree-of-freedom parallel mechanism described in the foregoing embodiment, and the structure of the parameter calibration apparatus of a six-degree-of-freedom parallel mechanism is referred to the foregoing embodiment and is not described herein again. The parameter calibration calculation module is used for executing the parameter calibration method of the six-degree-of-freedom parallel mechanism in the embodiment, and specifically, the parameter calibration method comprises the following steps:
s1 (S100): the initial value of the structural parameter of the six-degree-of-freedom parallel mechanism is preset, and the corresponding structural parameter error is added to the structural parameter of the six-degree-of-freedom parallel mechanism.
The structural parameters of the six-degree-of-freedom parallel mechanism comprise coordinates of six hinge points on a fixed platform of the six-degree-of-freedom parallel mechanism under a fixed platform coordinate system, coordinates of six hinge points on a movable platform under a movable platform coordinate system and lengths of six branched chains. Specifically, the number of the structural parameters of the six-degree-of-freedom parallel mechanism is 42 in total, and the structural parameters are X respectivelyBi,YBi,ZBi,li,XPi,YPi,ZPi(i ═ 1,2,3,4,5,6), where:
(1)[XBi YBi ZBi]＝[nXBi nYBi nZBi]+[ΔXBi ΔYBi ΔZBi]is the coordinate of the ith hinge point on the fixed platform of the six-freedom parallel mechanism in the fixed platform coordinate system (hereinafter referred to as fixed system)nXBi nYBi nZBi]To determine the nominal value of the coordinates of the ith hinge point of the platform, the upper left corner n is the abbreviation for "nominal" (nominal) (the same applies hereinafter), [ Δ X [ ]Bi ΔYBiΔZBi]The coordinate error of the ith hinge point of the fixed platform is determined;
(2)[XPi YPi ZPi]＝[nXPi nYPi nZPi]+[ΔXPi ΔYPi ΔZPi]is the coordinate of the ith hinge point on the moving platform of the six-freedom parallel mechanism in the moving platform coordinate system (hereinafter referred to as the moving system)nXPi nYPi nZPi]Is the coordinate nominal value of the ith hinge point of the movable platform, [ Delta X ]Pi AYPi ΔZPi]The coordinate error of the ith hinge point of the movable platform is obtained;
(3)li＝nli+Δlilength l of ith branched chain of six-freedom parallel mechanismi，nliIs a nominal value of the length of the ith branch,. DELTA.liThe length error of the ith branch is shown.
S2 (S200): presetting an initial value of the structural parameter of the six-degree-of-freedom parallel mechanism parameter calibration device, and adding a corresponding structural parameter error for the structural parameter of the six-degree-of-freedom parallel mechanism parameter calibration device.
Optionally, the step of presetting the initial value of the structural parameter of the six-degree-of-freedom parallel mechanism parameter calibration device by S2 includes the following steps:
s21: and constructing a coordinate system of the measured reference block.
Firstly, a parameter calibration device of a six-degree-of-freedom parallel mechanism is modeled. The intersection point of three planes of a measured reference block 8 is abstracted as the origin of a measured reference block coordinate system (hereinafter, referred to as a reference block system), a reference plane 8-1 is abstracted as an XOY plane of the reference block system and is abbreviated as an 'I plane', the intersection line of the reference plane 8-1 and a reference plane 8-2 is abstracted as an X axis, a plane passing through the X axis and perpendicular to the reference plane 8-1 is defined as an XOZ plane and is abbreviated as a 'II plane', and a plane passing through the origin and perpendicular to the X axis is defined as a YOZ plane and is abbreviated as a 'III plane'. And constructing a coordinate system of the measured reference block. The displacement sensors 1 to 6 are abstracted into spatial straight lines S1 to S6, wherein the intersections of the straight lines S1, S2 and S3 with the I plane are defined as M1, M2 and M3, the intersections of the straight lines S4 and S5 with the II plane are defined as M4 and M5, and the intersection of the straight line S6 with the III plane is defined as M6.
S22: presetting the pose of the coordinate system of the measured reference block under the six-freedom-degree parallel mechanism dynamic system.
The pose of the preset reference block system under the six-freedom-degree parallel mechanism dynamic system is as follows:
Figure BDA0003093951770000061
in the formula:
Figure BDA0003093951770000062
is the coordinate of the origin of the reference block system in the dynamic system,
Figure BDA0003093951770000063
is the coordinate nominal value of the reference block system coordinate origin in the dynamic system,
Figure BDA0003093951770000064
the coordinate error of the coordinate origin of the reference block system in the dynamic system is taken as the coordinate error;
Figure BDA0003093951770000065
is the attitude angle of the reference block in the power train,
Figure BDA0003093951770000066
is the nominal value of the attitude angle of the reference block in the dynamic system,
Figure BDA0003093951770000067
is the attitude angle error of the reference block in the power train.
Writing equation (1) as a homogeneous coordinate transformation is:
Figure BDA0003093951770000068
in the formula, c represents cos and s represents sin.
S23: and presetting the pose of the measured reference block under the fixed platform coordinate system of the six-degree-of-freedom parallel mechanism when the movable platform coordinate system is at the zero position to obtain expressions of an XOY surface, an XOZ surface and a YOZ surface of the measured reference block when the movable platform coordinate system is at the zero position.
In this step, the pose of the reference block system under the fixed system of the six-degree-of-freedom parallel mechanism when the preset dynamic system is at the zero position is expressed by an RPY angle:
Figure BDA0003093951770000069
in the formula:
Figure BDA00030939517700000610
is the coordinate of the origin of the reference block system in the fixed system,
Figure BDA00030939517700000611
is the coordinate nominal value of the coordinate origin of the reference block system in the fixed system,
Figure BDA00030939517700000612
the coordinate error of the coordinate origin of the reference block system in the fixed system is taken as the coordinate error;
Figure BDA00030939517700000613
is the attitude angle of the reference block in the fixed system,
Figure BDA00030939517700000614
is in a fixed system as a reference blockThe nominal value of the attitude angle of (a),
Figure BDA00030939517700000615
is the attitude angle error of the reference block in the fixed system.
Writing equation (3) as a homogeneous coordinate transformation form:
Figure BDA0003093951770000071
in the formula, c represents cos and s represents sin.
An expression of the I surface of the measured reference block when the dynamic system is at the zero position can be obtained according to the formula (4):
Figure BDA0003093951770000072
in the formula (I), the compound is shown in the specification,
Figure BDA0003093951770000073
is a point on the I surface, namely the coordinate origin of the reference block system,
Figure BDA0003093951770000074
and
Figure BDA0003093951770000075
is a vector in the I plane.
And when the dynamic system is at a zero position, the expression of the II surface of the measured reference block is as follows:
Figure BDA0003093951770000076
in the formula (I), the compound is shown in the specification,
Figure BDA0003093951770000077
is a point on the surface II of the wafer,
Figure BDA0003093951770000078
and
Figure BDA0003093951770000079
is a vector in the plane II.
And the expression of the III surface of the measured reference block when the dynamic system is at the zero position:
Figure BDA00030939517700000710
in the formula (I), the compound is shown in the specification,
Figure BDA00030939517700000711
is a point on the plane III of the wafer,
Figure BDA00030939517700000712
and
Figure BDA00030939517700000713
is a vector in plane III.
S24: and presetting expressions of straight lines where the displacement sensors are located.
Presetting linear expressions of the displacement sensors 1 to 6:
Lk＝[xk yk zk dxk dyk dzk],k＝1,2,3,4,5,6 (8)
in the formula:
[xk yk zk]＝[nxk nyk nzk]+[Δxk Δyk Δzk]represents a point coordinate on a straight linenxk nyk nzk]Is a nominal value of the coordinates of a point on a straight line, [ Δ x ]k Δyk Δzk]Is the coordinate error of a point on the straight line;
[dxk dyk dzk]＝[ndxk ndyk ndzk]+[Δdxk Δdyk Δdzk]a vector [ alpha ] representing a straight linendxk ndyk ndzk]Is the nominal value of the vector of the straight line, [ Δ dx ]k Δdyk Δdzk]Is the vector error of the straight line.
Through the steps from S21 to S24, the structural parameters of the parameter calibration device for the six-degree-of-freedom parallel mechanism are preset, and the total number of the structural parameters is 48.
S3 (S300): the nominal poses of the movable platform of the six-degree-of-freedom parallel mechanism are preset, and the number of the nominal poses is larger than or equal to a lower limit value.
The nominal poses of a movable platform of a preset six-degree-of-freedom parallel mechanism are as follows:
Figure BDA0003093951770000081
in the formula (I), the compound is shown in the specification,
Figure BDA0003093951770000082
is the coordinate of the coordinate origin of the motion system in the fixed system under the j-th nominal pose,
Figure BDA0003093951770000083
and j is equal to or more than m, m is a lower limit value of the number of the nominal poses, and optionally, m is 15.
S4 (S400): and calculating the nominal value of the expansion amount of each displacement sensor under each nominal pose.
Optionally, the step of S4 calculating the nominal value of the expansion amount of each displacement sensor at each nominal pose includes the following steps:
s41: and calculating the zero position coordinates of the contact points of the displacement sensors and the corresponding coordinate plane in the reference block system in the fixed system when the dynamic system is in the zero position. When equations (5), (6), (7), and (8) are combined, the coordinates of the contact point can be obtained and are recorded as:
Figure BDA0003093951770000084
in the formula (I), the compound is shown in the specification,
Figure BDA0003093951770000085
the coordinate of the displacement sensor k and the contact of the corresponding coordinate plane in the reference block system in the fixed system when the moving system is at the zero position is the zero position coordinate.
S42: and calculating the position and attitude coordinates of each displacement sensor and the contact of the corresponding coordinate plane in the reference block system in the fixed system when the dynamic system is in the nominal position and attitude.
Expressions of homogeneous coordinate transformation of different nominal poses and plane expressions of coordinate planes I, II and III in different nominal poses can be derived according to S1-S3. The linear expression of the displacement sensor is combined with the plane expressions of the coordinate planes I, II and III under different nominal poses, so that the coordinates of the contact points of each displacement sensor and each corresponding coordinate plane in the reference block system can be solved and recorded as:
Figure BDA0003093951770000086
in the formula (I), the compound is shown in the specification,
Figure BDA0003093951770000087
the coordinates of the displacement sensor k of the motion system in each position and the contact of the corresponding coordinate plane in the reference block system in the fixed system are the position coordinates.
S43: and calculating the linear distance between two contacts of each displacement sensor under each nominal pose according to the zero position coordinates and the pose coordinates to obtain the nominal value of the expansion amount of each displacement sensor under each nominal pose.
Calculating the linear distance between two contact points of each displacement sensor when the dynamic system is at a zero position and the dynamic system is at a nominal pose according to the formula (10) and the formula (11):
Figure BDA0003093951770000088
when the contact when the dynamic system is in the nominal pose moves to the reference axis in the positive direction relative to the contact when the dynamic system is in the zero position, the nominal value of the expansion amount of the displacement sensor is regulated to be positive, namely
hk＝|hk| (13)
When the contact when the dynamic system is in the nominal pose moves towards the negative direction of the reference shaft relative to the contact when the dynamic system is in the zero position, the nominal value of the expansion amount of the specified displacement sensor is negative, namely
hk＝-|hk| (14)
The reference axis is a coordinate axis parallel to a normal of a coordinate plane corresponding to the displacement sensor in the reference block system.
Therefore, the nominal value of the expansion amount of each displacement sensor under each nominal pose is calculated and recorded as:
nHj＝[nhj1 nhj2 nhj3 nhj4 nhj5 nhj6] (15)
in the formula (I), the compound is shown in the specification,nhj1，nhj2，nhj3，nhj4，nhj5，nhj6respectively, the nominal values of the expansion and contraction amounts of the 6 displacement sensors.
S5 (S500): and driving the six-degree-of-freedom parallel mechanism by using the controller to enable the movable platform to move to each nominal pose, and recording the actual expansion value of each displacement sensor under each nominal pose.
The controller is used for driving the six-degree-of-freedom parallel mechanism to enable the movable platform to move to nominal poses in sequence, the displacement sensor is used for measuring actual values of the stretching amount under different nominal poses, and the measurement result of each nominal pose is recorded as:
aHj＝[ahj1 ahj2 ahj3 ahj4 ahj5 ahj6] (16)
in the formula (I), the compound is shown in the specification,ahj1，ahj2，ahj3，ahj4，ahj5，ahj6are respectively 6Nominal value of the amount of expansion and contraction of the displacement sensor, the upper left-hand index a being an abbreviation for "actual".
S6 (S600): and (3) subtracting the actual value of the stretching amount of each displacement sensor under each nominal pose from the nominal value of the stretching amount to obtain the indicating value error of each displacement sensor under each nominal pose, and recording the indicating value error of each displacement sensor under each nominal pose as follows:
ΔHj＝[Δhj1 Δhj2 Δhj3 Δhj4 Δhj5 Δhj6] (17)
in the formula,. DELTA.hj1，Δhj2，Δhj3，Δhj4，Δhj5，Δhj6The difference values of the nominal value and the actual value of the stretching amount of the 6 displacement sensors are respectively.
S7 (S700): and constructing a mathematical model of the optimization problem by taking the minimum sum of squares of indicating value errors of all displacement sensors as an objective function and taking structural parameter errors of the six-degree-of-freedom parallel mechanism and the six-degree-of-freedom parallel mechanism parameter calibration device as design variables.
In this step, a mathematical model of the optimization problem is constructed. With the least square sum of the indication errors of all displacement sensors as the objective function, i.e.
Figure BDA0003093951770000101
In the formula, m is the number of nominal poses.
Taking the structure parameter error of the six-freedom-degree parallel mechanism and the six-freedom-degree parallel mechanism parameter calibration device as a design variable, namely
Figure BDA0003093951770000102
The constraint condition of the variable is the value range of the variable under the existing processing and assembling capability, and the error of the endpoint of the value range is plus or minus 0.1 (mm).
S8 (S800): and searching out the optimal solution of the mathematical model by using advanced optimization software. The advanced optimization software in the invention can be realized by software in the prior art, for example, OASIS software is adopted, and the OASIS software realizes the optimal solution search of the mathematical model based on an advanced optimization algorithm to obtain the optimal solution of the mathematical model, namely the optimal structure parameter error.
S9 (S900): and substituting the optimal solution obtained by searching into a mathematical model in control software of the six-degree-of-freedom parallel mechanism to realize parameter calibration and compensation of the six-degree-of-freedom parallel mechanism.
The parameter calibration device, namely the method for the six-degree-of-freedom parallel mechanism provided by the embodiment of the invention has the following beneficial effects:
1) low cost
The six-degree-of-freedom parallel mechanism parameter calibration device mainly comprises the following components: compared with expensive instruments such as a three-coordinate measuring machine, a laser tracker and the like, the six high-precision displacement sensors, the measured reference block and the sensor seat have extremely low cost;
2) simple operation
Before calibration, parameter calibration can be carried out only by fixing a measured reference block on a movable platform of the six-degree-of-freedom parallel mechanism, fixing a displacement sensor on a sensor seat and fixing the sensor seat on a fixed platform of the six-degree-of-freedom parallel mechanism through a support; during calibration, only the controller of the six-degree-of-freedom parallel mechanism needs to be operated, and a parameter calibration device of the six-degree-of-freedom parallel mechanism does not need to be operated, so that the whole calibration process is simple to operate, and time and labor are saved;
3) high calibration efficiency
As long as the end pose of the six-degree-of-freedom parallel mechanism is changed, the measured value of the displacement sensor, namely the actual value of the stretching amount, can be instantly obtained, the pose does not need to be solved, the actual value of the stretching amount of the displacement sensor is subtracted from the nominal value of the stretching amount, the difference is substituted into advanced optimization software, the optimal structure parameter error of the six-degree-of-freedom parallel mechanism can be calculated in a short time, and the parameter calibration efficiency is greatly improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1.一种六自由度并联机构参数标定装置，其特征在于，包括位移传感器、传感器座(7)、被测基准块(8)、支架(9)和参数标定计算模块；1. A six-degree-of-freedom parallel mechanism parameter calibration device, characterized in that it comprises a displacement sensor, a sensor base (7), a measured reference block (8), a bracket (9) and a parameter calibration calculation module; 所述传感器座(7)包括三个相互正交的平面，三个所述平面上分别固定有1个、2个和3个所述位移传感器，且所述位移传感器的测杆轴线与对应的平面垂直，所述传感器座(7)通过所述支架(9)固定在六自由度并联机构的定平台(10)上；The sensor seat (7) includes three mutually orthogonal planes, one, two and three displacement sensors are respectively fixed on the three planes, and the axis of the measuring rod of the displacement sensor corresponds to the corresponding one. The plane is vertical, and the sensor seat (7) is fixed on the fixed platform (10) of the six-degree-of-freedom parallel mechanism through the bracket (9); 所述被测基准块(8)包括与三个所述平面一一对应的三个相互正交的基准平面，且所述位移传感器的触头均与对应的基准平面接触，所述被测基准块(8)固定在六自由度并联机构的动平台(11)顶部；The measured reference block (8) includes three mutually orthogonal reference planes corresponding to the three planes one-to-one, and the contacts of the displacement sensor are all in contact with the corresponding reference planes, and the measured reference planes The block (8) is fixed on the top of the moving platform (11) of the six-degree-of-freedom parallel mechanism; 所述参数标定计算模块获取各个所述位移传感器在六自由度并联机构处于不同位姿下的伸缩量实际值，并根据所述伸缩量实际值确定六自由度并联机构的最优结构参数误差，根据所述最优结构参数误差对六自由度并联机构的参数进行标定与补偿。The parameter calibration calculation module obtains the actual value of the expansion and contraction amount of each of the displacement sensors when the six-degree-of-freedom parallel mechanism is in different poses, and determines the optimal structural parameter error of the six-degree-of-freedom parallel mechanism according to the actual value of the expansion and contraction amount, The parameters of the six-degree-of-freedom parallel mechanism are calibrated and compensated according to the optimal structural parameter error. 2.根据权利要求1所述的六自由度并联机构参数标定装置，其特征在于，2. The six-degree-of-freedom parallel mechanism parameter calibration device according to claim 1, characterized in that, 所述位移传感器采用光栅位移传感器。The displacement sensor adopts a grating displacement sensor. 3.根据权利要求1或2所述的六自由度并联机构参数标定装置，其特征在于，3. The six-degree-of-freedom parallel mechanism parameter calibration device according to claim 1 or 2, characterized in that, 所述传感器座(7)和所述被测基准块(8)的材质为铸铁材料，所述支架(9)的材质为45号钢。The material of the sensor seat (7) and the measured reference block (8) is cast iron, and the material of the bracket (9) is 45# steel. 4.根据权利要求1或2所述的六自由度并联机构参数标定装置，其特征在于，4. The six-degree-of-freedom parallel mechanism parameter calibration device according to claim 1 or 2, characterized in that, 所述传感器座(7)为底部开口的空心的长方体或者正方体。The sensor seat (7) is a hollow cuboid or a cube with an open bottom. 5.根据权利要求1或2所述的六自由度并联机构参数标定装置，其特征在于，5. The six-degree-of-freedom parallel mechanism parameter calibration device according to claim 1 or 2, characterized in that, 所述被测基准块(8)为长方体或者正方体。The measured reference block (8) is a cuboid or a cube. 6.一种基于权利要求1至5任意一项所述的六自由度并联机构参数标定装置的参数标定方法，其特征在于，所述参数标定计算模块用于执行所述参数标定方法，所述参数标定方法包括以下步骤：6. A parameter calibration method based on the six-degree-of-freedom parallel mechanism parameter calibration device according to any one of claims 1 to 5, wherein the parameter calibration calculation module is used to execute the parameter calibration method, the The parameter calibration method includes the following steps: S1：预设六自由度并联机构的结构参数的初值，并为六自由度并联机构的结构参数添加对应的结构参数误差；S1: Preset the initial value of the structural parameters of the 6-DOF parallel mechanism, and add the corresponding structural parameter error to the structural parameters of the 6-DOF parallel mechanism; S2：预设六自由度并联机构参数标定装置的结构参数的初值，并为六自由度并联机构参数标定装置的结构参数添加对应的结构参数误差；S2: Preset the initial values of the structural parameters of the 6-DOF parallel mechanism parameter calibration device, and add the corresponding structural parameter error to the structural parameters of the 6-DOF parallel mechanism parameter calibration device; S3：预设六自由度并联机构的动平台的名义位姿，且所述名义位姿的数量大于等于下限值；S3: Preset the nominal pose of the moving platform of the six-degree-of-freedom parallel mechanism, and the number of the nominal poses is greater than or equal to the lower limit value; S4：计算各所述名义位姿下各个位移传感器的伸缩量名义值；S4: Calculate the nominal value of the expansion and contraction amount of each displacement sensor under each of the nominal poses; S5：利用控制器驱动六自由度并联机构，使动平台运动至各所述名义位姿，并记录各所述名义位姿下各个所述位移传感器的伸缩量实际值；S5: use the controller to drive the six-degree-of-freedom parallel mechanism, move the moving platform to each of the nominal poses, and record the actual value of the expansion and contraction of each of the displacement sensors under each of the nominal poses; S6：将每一所述名义位姿下每一个所述位移传感器的伸缩量实际值与伸缩量名义值做差，得到各所述名义位姿下各个所述位移传感器的示值误差；S6: making a difference between the actual value of the expansion and contraction amount of each of the displacement sensors under each of the nominal poses and the nominal value of the expansion and contraction amount to obtain the indication error of each of the displacement sensors under each of the nominal poses; S7：以全部所述位移传感器的示值误差的平方和最小为目标函数，以六自由度并联机构和六自由度并联机构参数标定装置的结构参数误差为设计变量，构造最优化问题的数学模型；S7: Taking the minimum sum of the squares of the indication errors of all the displacement sensors as the objective function, and taking the structural parameter errors of the 6-DOF parallel mechanism and the parameter calibration device of the 6-DOF parallel mechanism as the design variable, construct a mathematical model of the optimization problem ; S8：利用先进优化软件搜索出所述数学模型的最优解；S8: Use advanced optimization software to search for the optimal solution of the mathematical model; S9：将搜索得到的最优解代入六自由度并联机构的数学模型，实现六自由度并联机构的参数标定与补偿。S9: Substitute the optimal solution obtained by the search into the mathematical model of the 6-DOF parallel mechanism to realize the parameter calibration and compensation of the 6-DOF parallel mechanism. 7.根据权利要求6所述的六自由度并联机构参数标定方法，其特征在于，7. The six-degree-of-freedom parallel mechanism parameter calibration method according to claim 6, characterized in that, 六自由度并联机构的结构参数包括六自由度并联机构的定平台上六个铰点在定平台坐标系下的坐标、动平台上六个铰点在动平台坐标系下的坐标以及六个支链的长度。The structural parameters of the six-degree-of-freedom parallel mechanism include the coordinates of the six hinge points on the fixed platform of the six-degree-of-freedom parallel mechanism in the fixed platform coordinate system, the coordinates of the six hinge points on the moving platform in the moving platform coordinate system, and the six support the length of the chain. 8.根据权利要求6或7所述的六自由度并联机构参数标定方法，其特征在于，步骤S2包括以下步骤：8. The six-degree-of-freedom parallel mechanism parameter calibration method according to claim 6 or 7, wherein step S2 comprises the following steps: 构建被测基准块坐标系；Construct the measured reference block coordinate system; 预设被测基准块坐标系在六自由度并联机构动平台坐标系下的位姿；Preset the pose of the measured reference block coordinate system in the six-degree-of-freedom parallel mechanism moving platform coordinate system; 预设动平台坐标系处于零位时被测基准块系在六自由度并联机构定平台坐标系下的位姿，得到动平台坐标系处于零位时被测基准块的XOY面、XOZ面及YOZ面的表达式；When the coordinate system of the moving platform is at the zero position, the pose of the measured reference block in the fixed platform coordinate system of the six-degree-of-freedom parallel mechanism is preset, and the XOY plane, XOZ plane and The expression of the YOZ face; 预设各个所述位移传感器所在直线的表达式。The expression of the straight line where each of the displacement sensors is located is preset. 9.根据权利要求6或7所述的六自由度并联机构参数标定方法，其特征在于，S4包括以下步骤：9. The six-degree-of-freedom parallel mechanism parameter calibration method according to claim 6 or 7, wherein S4 comprises the following steps: S41：计算动平台坐标系处于零位时各个所述位移传感器与所述被测基准块坐标系中对应坐标平面的触点在定平台坐标系中的零位坐标；S41: Calculate the zero position coordinates of the contact points of each of the displacement sensors and the corresponding coordinate planes in the coordinate system of the measured reference block in the coordinate system of the fixed platform when the coordinate system of the moving platform is at the zero position; S42：计算动平台坐标系处于名义位姿时各个所述位移传感器与所述被测基准块坐标系中对应坐标平面的触点在定平台坐标系中的位姿坐标；S42: Calculate the pose coordinates in the fixed platform coordinate system of each of the displacement sensors and the contact points of the corresponding coordinate planes in the measured reference block coordinate system when the moving platform coordinate system is in the nominal pose; S43：根据所述零位坐标和所述位姿坐标，计算每一个所述名义位姿下每一个所述位移传感器的两个触点之间的直线距离，得到各所述名义位姿下各个所述位移传感器的伸缩量名义值。S43: Calculate the straight-line distance between the two contacts of each of the displacement sensors in each of the nominal poses according to the zero position coordinates and the pose coordinates, and obtain the The nominal value of the expansion and contraction of the displacement sensor. 10.根据权利要求9所述的六自由度并联机构参数标定方法，其特征在于，10. The six-degree-of-freedom parallel mechanism parameter calibration method according to claim 9, characterized in that, 当动平台坐标系处于名义位姿时的触点相对于动平台坐标系处于零位时的触点向参考轴正向移动时，则所述位移传感器的伸缩量名义值为正，当向参考轴负向移动时，则所述位移传感器的伸缩量名义值为负。When the contact point when the coordinate system of the moving platform is in the nominal pose moves to the positive reference axis relative to the contact point when the coordinate system of the moving platform is at zero position, the nominal value of the expansion and contraction of the displacement sensor is positive. When the shaft moves in the negative direction, the nominal value of the expansion and contraction of the displacement sensor is negative.
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