Calibration of Parallel Kinematic Machines: Theory and Applications

Legnani, Giovanni; Tosi, Diego; Adamini, Riccardo; Fassi, Irene

doi:10.5772/4897

Cited by 8 publications

(6 citation statements)

References 20 publications

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“…Thus, one reduces the number of unidentified parameters from 20 to 14 for each limb and the detailed distribution is reflected in Section 4. This reduction can also be calculated by the equation for calculating the number of the independent parameters proposed by Legnani [ 29 ].…”

Section: Kinematic Calibration Methodsmentioning

confidence: 99%

Calibration of a six-DOF parallel manipulator for chromosome dissection

Jiang

Gao

Zhao

2011

Proceedings of the Institution of Mechanical Engineers, Part C:

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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.

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Section: Kinematic Calibration Methodsmentioning

confidence: 99%

Calibration of a six-DOF parallel manipulator for chromosome dissection

Jiang

Gao

Zhao

2011

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…However, while the PKM usually exhibit a much better repeatability as compared to serial mechanisms, they may not necessarily posses a better accuracy, which is limited by manufacturing/ assembling errors in numerous links and passive joints [5][6][7][8][9]. Besides, for non-Cartesian parallel architectures, some kinematic parameters (such as the encoder offsets) cannot be determined by direct measurement.…”

Section: Introductionmentioning

confidence: 96%

Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions

Pashkevich¹,

Chablat²,

Wenger³

2009

Mechatronics

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a b s t r a c tThe paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a simple and low-cost measuring system, which evaluates deviation of the leg location during motions that are assumed to preserve the leg parallelism for the nominal values of the manipulator parameters. Using the measured deviations, the developed algorithm estimates the joint offsets that are treated as the most essential parameters to be identified. The validity of the proposed calibration method and efficiency of the developed numerical algorithms are confirmed by experimental results. The sensitivity of the measurement methods and the calibration accuracy are also studied.

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“…Because of the complicated topological structures of parallel manipulators, there has been little work on determining their identifiable error parameters at the model level [37][38][39][40], although great efforts have been made at the calibration level using singular value decomposition [28][29][30][31][32][33][34][35][36]. For example, an empirical formula…”

Section: ．Introductionmentioning

confidence: 99%

“…proposed [37] where , ri n and , pi n denote the number of revolute and prismatic joints and , ss i n the number of links between two spherical joints in limb i ( 1, 2, , il  L ) with l being the number of limbs of a parallel manipulator. This formula was then amended to take account of the number of independent loop closures and the number of cylindrical joints involved [38,39]. Unfortunately, as remarked by [40], these formulae were tested only via case-by-case studies without any formal justifiable proof.…”

Section: ．Introductionmentioning

confidence: 99%