中文摘要：

平面柔性并联机构具有柔性机构和少自由度并联机构两者的优点，是当前研究的热点之一。提出并验证一种简单、有效的平面柔性3-RRR并联机构自标定方法。从误差建模出发，利用矢量链法推导出标定参数辨识方程。借助静平台上的标准定位圆孔，通过仪器对拉线式编码器（线尺）进行标定，进而利用线尺在线地测量、记录机构运行中的实际位姿，结合数控系统中的理论轨迹，辨识出系统模型误差。根据辨识结果对控制模型进行补偿，使平面柔性3-RRR运动平台轨迹误差得到了明显的减小，有效提高了机构的精度，完成了利用线尺进行机构自标定方法的研究。由于测量工具和建模方法通用性强，且具有在线实际位姿测量能力，该试验研究为平面柔性少自由度并联机构的自标定提供了一种切实可行的解决途径，同时为全闭环控制提供了可行的测量方法。

英文摘要：

Planar flexible parallel manipulators, which concentrate the merits of both flexible manipulators and lower-mobility parallel manipulators, have become a hot spot of current researches. A simple and effective self-calibration approach for a planar flexible 3-RRR parallel manipulator is proposed and verified. Based on the error modeling, parameter identification equations are derived by vector chains. Actual poses of the manipulator during applications are measured on line by linear wire encoders, which have been calibrated by instruments through standard positioning holes of the static platform. According to the identification results deduced from the theoretical trajectory of numerical control system, the control model is compensated. As a result, the accuracy of the manipulator is greatly improved, and the study of the self-calibration by linear wire encoders is completed. In view of the great availability of measuring implements and modeling method, as well as the capacity of measuring the actual poses on line, this method is a practical solution to self-calibration of lower-mobility planar flexible parallel manipulators and an available measure for the closed-loop control.