A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator

doi:10.3390/sym12030357

CORC > 宁波材料技术与工程研究所 > 中国科学院宁波材料技术与工程研究所 > 2020专题

	A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator
	Zhang, Fengxuan; Chen, Silu; He, Yongyi; Ye, Guoyun; Zhang, Chi; Yang, Guilin
刊名	SYMMETRY-BASEL
	2020
卷号	12 期号:3
关键词	ROBOT CALIBRATION IDENTIFICATION MODEL
DOI	10.3390/sym12030357
英文摘要	This paper proposes a method for kinematic calibration of a 3T1R, 4-degree-of-freedom symmetrical parallel manipulator driven by two pairs of linear actuators. The kinematic model of the individual branched chain is established by using the local product of exponentials formula. Based on this model, the model of the end effector's pose error is established from a pair of symmetrical branched chains, and a recursive least square method is applied for the parameter identification. By installing built-in sensors at the passive joints, a calibration method for a serial manipulator is eventually extended to this parallel manipulator. Specifically, the sensor installed at the second revolute joint of each branched chain is saved, replaced by numerical calculation according to kinematic constraints. The simulation results validate the effectiveness of the proposed kinematic error modeling and identification methods. The procedure for pre-processing compensation on this 3T1R parallel manipulator is eventually given to improve its absolute positioning accuracy, using the inverse of the calibrated kinematic model.
学科主题	Science & Technology - Other Topics
内容类型	期刊论文
源URL	[http://ir.nimte.ac.cn/handle/174433/19906]
专题	2020专题
作者单位	Chen, SL (corresponding author), Chinese Acad Sci, Ningbo Inst Mat Technol & Engn, Zhejiang Key Lab Robot & Intelligent Mfg Equipmen, Ningbo 315201, Peoples R China.
推荐引用方式 GB/T 7714	Zhang, Fengxuan,Chen, Silu,He, Yongyi,et al. A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator[J]. SYMMETRY-BASEL,2020,12(3).
APA	Zhang, Fengxuan,Chen, Silu,He, Yongyi,Ye, Guoyun,Zhang, Chi,&Yang, Guilin.(2020).A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator.SYMMETRY-BASEL,12(3).
MLA	Zhang, Fengxuan,et al."A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator".SYMMETRY-BASEL 12.3(2020).