: 为提高隧道作业台车机械臂的定位精度,从影响机械臂末端定位精度的主要因素出发,分别对柔性误差和参数误差进行标 定。 采用响应面法对柔性变形进行实测标定,并用最小二乘法拟合响应曲面,获得机械臂挠度变形值和端截面转角变形值。 利用 直接标定法获得作业台车机械臂的运动学参数,并提出基于全站仪的作业台车标定方案。 同时,进行校准结果的实验验证。 结果 表明: 机械臂末端 X 方向的绝对定位误差减小59.09%,Y 方向的绝对定位误差减小77.03%,Z 方向的绝对定位误差减小75.67%, 总距离误差降低79.46%; 标定校准后机械臂末端的最大绝对定位误差为0.069 9 m,平均值为0.023 6 m,均方差为0.016 8,能够 较好地满足实际定位要求,并在后续的工程应用中取得了较好的效果。

The flexible error and parameter error of jumbo boom ends in tunnel construction are calibrated respectively from the aspect of main factors that affecting the positioning accuracy of the boom end, so as to improve the positioning accuracy of the working jumbo boom. The flexible deformation is measured by the response surface method, and the response surface is fitted with the least square method to obtain the deflection deformation value of the boom and the cross-section corner deformation value. The kinematic parameters of the working jumbo boom are obtained by direct calibration method, and the calibration scheme of the anchor trolley based on the total station is proposed. At the same time, the experimental verification of the calibration results is carried out. The experimental results show that: (1) The absolute positioning errors of the X direction, Y direction and Z direction at the boom end are reduced by 59.09%, 77.03% and 75.67%, respectively, and the total distance error is reduced by 79.46%. (2) The maximum absolute positioning error of the boom end is 0.069 9 m, the average value is 0.023 6 m, and the mean square error is 0.016 8, which can better meet the actual positioning requirements and perform well in subsequent engineering applications.