中文摘要：

研究一种新型混联机器人的快速零点标定方法。该机器人由一个3自由度并联模块及一个2自由度转头串接而成，具有刚度高、工作空间大、制造成本低等优点，如配以长行程导轨，可应用于飞机结构件自动制孔作业。介绍并联模块的拓扑结构组成，提出其逆位置分析的快速数值算法。通过建立并联模块的零点误差映射模型，侧重分析各支链零点误差对动平台位置误差的影响。在此基础上，建立基于激光跟踪仪的并联模块零点误差辨识模型，并提出兼顾辨识精度、鲁棒性及标定效率的测点选取规则。算例仿真验证了上述零点标定方法的有效性。

英文摘要：

An analytical approach is presented for the rapid home position calibration of a novel hybrid robot, which is composed of a 3-DOF parallel module and a 2-DOF rotating head, featuring with high stiffness, large workspace and low manufacturing cost. By adding a translational motion along a long reference track, the robot might be employed to configure a robotic cell for automatic drilling or riveting in aircraft structural components assembly. The topology structure of the parallel module is introduced briefly, and a numerical algorithm is proposed to solve the inverse position problem. By using the home position error model of the parallel module, the influence of the home position errors of the limbs upon the position error of the moving platform is evaluated. A laser tracker based home position error identification model of the parallel module is formulated, together with appropriate selection principle of measured points throughout the entire task workspace combining identification accuracy, robustness and efficiency. The simulation results indicate the effectiveness of the proposed home position calibration method.