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Abstract: By taking Delta robot as an example, an error modeling
technique is developed for the kinematic calibration of a class of 3-DOF
translational parallel kinematic machines with parallelogram struts. The
model allows the geometric errors affecting the position and orientation
accuracy of the end-effector to be separated. Utilizing the properties
of parallel kinematic machines, i.e. the pose of the end-effector in the
Cartesian space is the non-linear mapping of all servo motions of the
actuated variables in the joint space, an effective calibration method
is proposed that enables the full set of geometric errors to be
identified by only measuring the flatness about the xy plane, the
straightness along x(y) axis and the orientation error at the initial
configuration. An error compensation strategy is also developed by
modifying the ideal input of the system. An example is given to
demonstrate the effectiveness of this approach.
Key words: Parallel kinematic machines Delta robot Error modeling
Kinematic calibration
CLC No: TH113
国家自然科学基金(50075059)、英国皇家学会国际合作基金(Q820)、天津市自然科学重点基金(003802111)和天津市“十五”重大科技攻关基金资助项目.
Received 20020703, received in revised form 20021215
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