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Zero calibration and performance assessment of a 6-DOF parallel platform used for wave simulation

Published:2015-04-07 author:GUO Yun-peng ，CHEN Bai，WU Hong-tao Browse: 3447 Check PDF documents

Zero calibration and performance assessment of a 6-DOF parallel

platform used for wave simulation

GUO Yun-peng ，CHEN Bai，WU Hong-tao

（College of Mechanical and Electrical Engineering，Nanjing University of Aeronautics and Astronautics，

Nanjing 210016，China）

Abstract：Aiming at the problem that parallel robot exists the lack of movement precision，the zero calibration and performance

assessment for a 6-DOF parallel platform used for wave simulation were completed. The inverse kinematics was acquired by using

homogeneous coordinates method so as to establish the motion control model of the platform，and the workspace of certain posture was

obtained by using boundary search method based on inverse kinematics. The motion control of the platform was realized，the design of

control system was done by choosing PC and motion controller as the control mode. The motion performance was improved，vector

derivation method was adopted to build the zero point error model，and zero calibration was implemented with the help of laser tracker.

Finally，the platform was used to simulate a certain wave spectrum and the tracking performance was analyzed according to the

experimental results. The results indicate that the calibrated platform has a good simulation performance.

Key words：parallel platform；wave simulation；motion control；zero calibration；performance assessment

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