A Method of Zero Calibration for Large Mechanical Arm

The rocker arm type motion simulation support equipment can simulate the equivalent motion trajectory of the aircraft, which is essentially a large mechanical arm. Because it is diffcult to level the base through the conventional ten thousand method, and not leveling will bring erors to simulation accuracy of the contorl motion trajectory, futher measurement and calibration are required, This paper presents a calibration method for the zeor position measurement of the base of a large manipulator. In this method, a measuring instrusment intergrating a morth finder and a total station is used to measure the coordinates of the marked points on the base of the mainpulator.The center coordinates and the vertical and horizontal “angle” of the base are obtained through the spatial coordinate calculation.Finally,these effects are superimposed on the coordinate system that needs to be used in space, and the influence of the base tilt on the manipulator can be eliminated,This method solves the problem of diccicult leveling of large epuipment and improves the positioning accuracy of the system.