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Kinematic calibration of parallel manipulator with full-circle rotation

Yanbing Ni (School of Mechanical Engineering, Tianjin University, Tianjin, China)
Biao Zhang (School of Mechanical Engineering, Tianjin University, Tianjin, China)
Wenxia Guo (School of Mechanical Engineering, Tianjin University, Tianjin, China)
Cuiyan Shao (School of Mechanical Engineering, Tianjin University, Tianjin, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 16 May 2016

281

Abstract

Purpose

The purpose of this paper is to develop a means of the kinematic calibration of a parallel manipulator with full-circle rotation.

Design/methodology/approach

An error-mapping model based on the space vector chain is formulated and parameter identification is proposed based on double ball-bar (DBB) measurements. The measurement trajectory is determined by the motion characteristics of this mechanism and whether the error sources can be identified. Error compensation is proposed by modifying the inputs, and a two-step kinematic calibration method is implemented.

Findings

The simulation and experiment results show that this kinematic calibration method is effective. The DBB length errors and the position errors in the end-effector of the parallel manipulator with full-circle rotation are greatly reduced after error compensation.

Originality/value

By establishing the mapping relationship between measured error data and geometric error sources, the error parameters of this mechanism are identified; thus, the pose errors are unnecessary to be measured directly. The effectiveness of the kinematic calibration method is verified by computer simulation and experiment. This proposed calibration method can help the novel parallel manipulator with full-circle rotation and other similar parallel mechanisms to improve their accuracy.

Keywords

Acknowledgements

This research is supported by National Natural Science Foundation of China (Grant No. 51575385).

Citation

Ni, Y., Zhang, B., Guo, W. and Shao, C. (2016), "Kinematic calibration of parallel manipulator with full-circle rotation", Industrial Robot, Vol. 43 No. 3, pp. 296-307. https://doi.org/10.1108/IR-08-2015-0161

Publisher

:

Emerald Group Publishing Limited

Copyright © 2016, Emerald Group Publishing Limited

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