关键词: 串并联机构, 误差模型, 参数识别, 高强度聚焦超声

Abstract:

The actual position accuracy of the 5-DOF (Degree of Freedom)serial-parallel manipulator 0f a HIFU(High-Intensity Focused Ultrasonic)curing machine is analyzed on the basis of the actual error models of the mo-ving platform,the stability platform and the extension pole.as well as by means of the redundant restriction param-eter identification.With a 3-RPS serial-parallel manipulator as the research object.the model parameters of the
controllers of the curing machine are adjusted via the error parameter identification and position accuracv arialysis.and a higher position accuracy is achieved,thus meeting the positioning requirements for HIFU treatment more sat-isfactorily.The simulated results indicate that,during the practical measurement,about 50 test points are enough.with a maximum total eror of the focus less than 0.5 mm and a maximum measurement eror less than 0.2 mm,e-yen within 0.05 mm.The most remarkable merit of the proposed method is that no more extra configurati0n trans-ducers or sensors are needed during the parameter identification,which makes it possible for the manipulator to run on line in practical situations.

Key words: serial-parallel manipulator, error model, parameter identification, high-intensitv focused uhrasonic