论文标题
热挠度解耦6-DOF姿势测量
Thermal deflection decoupled 6-DOF pose measurement of hexapods
论文作者
论文摘要
校准对于具有高临界定位能力的六边形至关重要。这些校准程序中的许多都需要在恒温下测量Hexapod的平台姿势（位置和方向）。因此，在姿势测量过程中，Hexapod平台的热偏转会影响校准参数的准确性。本文提出了一种消除六足动物热偏转对姿势测量的影响的方法。在这种方法中，在每个特定姿势的测量测量之前都要测量参考姿势。参考姿势的测量值用于估计六脚腿的热偏转。这又用于估计和纠正要测量的特定姿势下产生的姿势误差。通过使用CMM对高精度HexaPoD的姿势测量，通过实验证明了使用所提出的方法的优点。
Calibration is crucial for hexapods with high-accuracy positioning capability. Many of these calibration procedures require measurement of hexapod's platform pose (position and orientation) at constant temperature. Consequently, thermal deflection of the hexapod's platform during pose measurements impacts the accuracy of calibrated parameters. This paper presents a method to eliminate the impact of thermal deflection of hexapods on their pose measurement. In this method, a reference pose is measured before each measurement of any particular pose. The measurements of reference pose are used to estimate thermal deflection of hexapod's legs. This is in turn used to estimate and correct the resulting pose error at the particular pose to be measured. The advantage of using the proposed method is demonstrated experimentally by means of pose measurements of a high-precision hexapod using a CMM.
