A screw theory based approach to determining the identifiable parameters for calibration of parallel manipulators

Yin, Fuwen; Tian, Wenjie; Liu, Haitao; Huang, Tian; Chetwynd, D. G.

doi:10.1016/j.mechmachtheory.2019.103665

Cited by 26 publications

(3 citation statements)

References 39 publications

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“…Headlamps with no points outside tolerances satisfied the limits for accuracy. The remainder of the samples were separated according to the number of points outside tolerances: low (1-4), medium (5-10) and high (11)(12)(13)(14)(15)(16)(17)(18)(19)(20)(21)(22)(23)(24)(25).…”

Section: Plos Onementioning

confidence: 99%

Adjusting products with compensatory elements using a digital twin: Model and methodology

Konecny

Bailova²,

Beremlijski³

et al. 2023

PLoS ONE

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The article presents a novel strategy for reducing the geometric error of a vehicle headlamp equipped with a set of calibration screws, which represents a product assembly. Using a general method for designing and implementing a digital twin, we determined the optimal configuration for a compensatory element that minimizes the total geometric error. Formulated as a problem of constrained minimization, we solved the error using the gradient method and the Broyden–Fletcher–Goldfarb–Shanno method. Products are automatically adjusted according to this optimal setting during the manufacturing process. The results of this novel method indicate that all points can be aligned when the non-individual calibration satifies a geometrical specification of 92%. The digital twin approach was compared to the manufacturing process on 84,055 samples. Overall, 98.19% of the samples were perfectly aligned.

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Section: Plos Onementioning

confidence: 99%

Adjusting products with compensatory elements using a digital twin: Model and methodology

Konecny

Bailova²,

Beremlijski³

et al. 2023

PLoS ONE

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“…e calibration of manipulator is a comprehensive process of modeling, measurement, identification, and compensation [14,[23][24][25][26]. is paper mainly considers the problems of modeling and identification.…”

Section: Literature Reviewmentioning

confidence: 99%

Parameter Calibration on Replacement Manipulator for UHV Valve-Side Bushing Based on Spinor Theory

Zhang

Ai-ping

et al. 2021

Mathematical Problems in Engineering

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In this paper, a structure design scheme of intelligent replacement device for the ultrahigh voltage (UHV) converter transformer valve-side bushing is put forward, and its size is determined according to the actual size of domestic converter station valve hall and UHV converter transformer valve-side bushing. Moreover, the weak links in its working state are analyzed by finite element method to ensure the safety and reliability of the structure. Based on the spinor theory, the forward kinematics and Jacobian matrix model of the manipulator are established, and the analytical solution of inverse kinematics is derived. In order to analyze the accuracy of the intelligent replacement manipulator for the UHV converter transformer valve-side bushing, considering that the end actuator of the robot arm is under heavy load, the absolute positioning accuracy and repeated positioning accuracy are analyzed. In addition, the corresponding error model is established, the least square method is proposed to identify the error model, and the influence of the error caused by the load on the repetition accuracy is analyzed. Finally, the whole process simulation in ROS provides data support for the calculation of repetitive precision and verifies the feasibility of the intelligent replacement device for the UHV converter valve-side bushing.

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“…There are various mathematical methods used for mechanism analysis and synthesis, with two categories being prominent, namely the vector methods and the algebraic methods. Examples for vector methods are: the Denavit-Hartenberg convention (based on homogeneous matrix representation of SE(3)), used especially for serial mechanical chains [1], with a novel algorithm for automatic identification proposed in [2]; screw theory, which may be used even for error analysis in parallel mechanisms [3] or calibration of parallel mechanism [4]; and, Euler parameters used in the study of spherical displacement [5,6]. An overview of mathematical models used in mechanism analysis for higher order kinematics is given in [7].…”

Section: Introductionmentioning

confidence: 99%

Joint-Space Characterization of a Medical Parallel Robot Based on a Dual Quaternion Representation of SE(3)

et al. 2020

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The paper proposes a mathematical method for redefining motion parameterizations based on the joint-space representation of parallel robots. The study parameters of SE(3) are used to describe the robot kinematic chains, but, rather than directly analyzing the mobile platform motion, the joint-space of the mechanism is studied by eliminating the Study parameters. From the loop equations of the joint-space characterization, new parameterizations are defined, which enable the placement of a mobile frame on any mechanical element within the parallel robot. A case study is presented for a medical parallel robotic system in which the joint-space characterization is achieved and based on a new defined parameterization, the kinematics for displacement, velocities, and accelerations are studied. A numerical simulation is presented for the derived kinematic models, showing how the medical robot guides the medical tool (ultrasound probe) on an imposed trajectory.

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A screw theory based approach to determining the identifiable parameters for calibration of parallel manipulators

Abstract: Please refer to published version for the most recent bibliographic citation information. If a published version is known of, the repository item page linked to above, will contain details on accessing it.

Cited by 26 publications

References 39 publications

Adjusting products with compensatory elements using a digital twin: Model and methodology

Adjusting products with compensatory elements using a digital twin: Model and methodology

Parameter Calibration on Replacement Manipulator for UHV Valve-Side Bushing Based on Spinor Theory

Joint-Space Characterization of a Medical Parallel Robot Based on a Dual Quaternion Representation of SE(3)

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