Calibration of a six-DOF parallel manipulator for chromosome dissection

Abstract

This article proposes a calibration method for a six-PPPS parallel manipulator which is the macro-part of a dual-drive chromosome dissection system. The calibration model is built with respect to Denavit–Hartenberg notation. Certain adjustment matrices are utilized to provide independent error parameters. The pose of the moving platform as while as relative motion of all prismatic joints and spherical joints are measured by the latest API T3 laser tracker. Other than general methods that need reconstruction of the location and orientation of the platform with point coordinates, these data can be obtained directly within one single measurement in the proposed method. For data processing, a step-by-step calculation method has been presented to select initial error parameters. With this method, partial error parameters can be derived in advance to be substituted into the calibration model providing calculation efficiency superior to simultaneous computation. Simulation based on the geometry of this manipulator shows a decent convergence performance of the calibration model. The experimental results also validate the efficiency and the convenience of the proposed method.

Integration modeling and control of a 12-degree-of-freedom macro–micro dual parallel manipulator

“…Laser interferometer and laser tracker are used to calibrate the kinematic models of the macro parallel manipulator 33 and micro parallel manipulator. 41 Given the target pose and path point, the spatial motion trajectory of the end-effector of the 12-DOF macro-micro dual parallel manipulator is obtained according to the proposed 12-DOF smooth optimization trajectory planner. Combined with the control algorithm of the drive system, the trajectory tracking results and errors of the six servo motors and six piezoelectric actuators are shown in Figures 9 and 10.…”

“…Laser interferometer and laser tracker are used to calibrate the kinematic models of the macro parallel manipulator 33 and micro parallel manipulator. 41…”

Kinematic calibration and error compensation of a hexaglide parallel manipulator

“…A laser tracker is the typical external measuring device used in the calibration to improve the mechanism accuracy and especially suitable for a mechanism with spatially moving freedoms due to its three-dimensional (3D) tracking capability. 9,10 Researches on calibration of parallel mechanisms using laser tracker have been widely reported, 6,[10][11][12] but few are with respect to the HPMs.…”

A step identification method of joint parameters of robots based on the measured pose of end-effector

“…In the recent years, the identification of kinematic parameter still has attracted considerable attention from numerous researchers. 7 Some particular mechanisms make the identification of kinematic parameter more difficult. The 3-PRS mechanism had an ill-conditioning problem since the shapes of its chains were approximately the same, so Huang et al.…”