中文摘要：

针对平面并联机器运动学标定无法补偿的变值几何参数误差,提出一种标定后误差的线性预估实时补偿方法。该方法提前由测量仪器测量出部分机器终端误差修正值,在机器运行时,数控程序将实时调用这些误差修正值,并预先由直线插值线性计算出机器终端所到位置的误差修正值,并将这些计算出的误差修正值提前补偿到位置目标指令中,从而达到提高精度的目的。该方法简洁高效、工程实用性强,可广泛适用于少自由度并联机器。

英文摘要：

For the problem that variable geometrical parameter errors cannot be compensated in the general kinematic calibration of planar parallel kinematic machines,a linear forecast real-time error compensation method is presented.In the mothed,save the error values measured by measuring instruments in the numerical control program,figure out the error compensation values of the configuration by linear interpolation between the error values,compensate the error compensation values.The method is simple and easy to implement,and can be used for parallel kinematic machines with fewer than six degree-of-freedoms.