关键词: 机翼调姿, 并联机构, 误差模型, 运动学标定, 激光跟踪仪

Abstract: To solve the low precision of 3-PPPS parallel wing posture adjustment mechanism's pose due to the existence of the error in the assembly and manufacturing process,the influence of posture adjustment system's structure error on pose accuracy was considered with parallel kinematics calibration method.The inverse solution equation of wing posture adjustment was established through space displacement vector chain.The mapping function between the geometric error and the posture error which contained 39 error sources was obtained with differential mechanism of kinematics equation.The laser tracker system was used to measure appearance frame measurement reference point position and actual displacements.The structure error was identified by iterative linear least squares,and the structural parameters in inverse displacement equation were amended.After the kinematics calibration experiment,the maximum position error of parallel platform reduced from 2.68mm to 0.82mm,and the maximum angle error reduced from 0.481°to 0.167°,thus the effectiveness was verified.

Key words: wing posture adjustment, parallel mechanism, error model, kinematic calibration, laser tracker system