一种平面对准机构的运动学分析与参数标定研究

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以太阳能硅片丝网印刷装备为研究平台,采用并联机构与视觉系统实现硅片和丝网的对准,得到并联机构运动学正反解,完成运动学参数补偿与误差分析;提出了一种区别于传统视觉标定的视觉自标定方法,所得优化参数使机械装配上引起的对准误差最小化。 Based on the study platform of the solar silicon wafer screen printing equipment, parallel mechanism and vision system are used to realize the alignment between the silicon wafer and the screen, the kinematics positive and inverse solutions of the parallel mechanism are deduced to carry out the kinematic parameter compensation and the error analysis. This paper proposes a special vi- sion self-calibration method whis is used to get the optimal parametersand and the alignment error caused by mechanical assembly is reduced to mininum.