This paper presents a kinematic calibration of a 6-RRRPRR parallel kinematic mechanism with offset RR-joints that would be applied in space positioning field. In order to ensure highly accurate and highly effective calibration process, the complete error model, which contains offset universal joint errors, is established by differentiating inverse kinematic model. A calibration simulation comparison with non-complete error model shows that offset universal joint errors are crucial to improve the calibration accuracy. Using the error model, an optimal calibration configuration selection algorithm is developed to determine the least number of measurement configurations as well as the optimal selection of these configurations from the feasible configuration set. To verify the effectiveness of kinematic calibration, a simulation and experiment were performed. The results show that the developed approach can effectively improve accuracy of a parallel kinematic mechanism with relatively low number of calibration configurations.

中文翻译：

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基于最佳测量配置的 6-RRRPRR 并联运动机器的完整运动校准

本文提出了一种用于空间定位领域的带有偏置 RR 关节的 6-RRRPRR 并联运动机构的运动学校准。为保证标定过程的高精度和高效性，通过对逆运动学模型进行微分，建立了包含偏置万向节误差的完整误差模型。与非完全误差模型的标定仿真比较表明，偏移万向节误差对于提高标定精度至关重要。使用误差模型，开发了最佳校准配置选择算法，以确定最少数量的测量配置以及从可行配置集中这些配置的最佳选择。为了验证运动学校准的有效性，进行了模拟和实验。结果表明，所开发的方法可以有效地提高校准配置数量相对较少的并联运动机构的精度。