A Novel Kinematic Calibration Method for a 3DOF Flexure-based Parallel Mechanism

2006 ◽  
Author(s):  
Daihong Chao ◽  
Guanghua Zong ◽  
Rong Liu ◽  
Jingjun Yu
Keyword(s):  
Parallel Mechanism ◽  
Calibration Method ◽  
Kinematic Calibration

Kinematic Calibration of a 3rRPS Metamorphic Parallel Mechanism

2020 ◽  
Author(s):  
Xuheng Chai ◽  
Latifah Nurahmi ◽  
Jian S. Dai ◽  
Dongming Gan
Keyword(s):  
Motion Capture ◽  
Parallel Mechanism ◽  
Optimization Problems ◽  
Calibration Method ◽  
Kinematic Calibration ◽  
External Device ◽  
Unknown Parameters ◽  
Constraint Equations ◽  
Search Optimization ◽  
Base Platform

Abstract In this paper, a kinematic calibration method is developed for a 3rRPS metamorphic parallel mechanism with respect to all unknown parameters. Each limb of the 3rRPS mechanism is composed of (rR), P, and S joints. Two joints are actuated, namely P and r joints, hence the mechanism is able to switch between the 3RPS parallel mechanism and 3US parallel mechanism. The geometric constraint equations of the 3rRPS mechanism are initially established. Then, the optimization problems for the base, platform and actuated prismatic lengths during given trajectory are formulated by using the global search optimization algorithm. A physical model of the 3rRPS metamorphic parallel mechanism is built and an experiment is setup to validate the proposed calibration and optimization models. The external device, i.e., the OptiTrack is used during the experiment for motion capture system. All unknown parameters are identified and optimized by dint of the geometric properties of this mechanism and nonlinear optimization algorithms. The experimental results demonstrate that the proposed calibration method is valid and effective.

scholarly journals Accuracy Improvement Calibrations for the Double-Position 4-PPPS Aircraft Docking System

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Ruolong Qi ◽  
Yuangui Tang ◽  
Ke Zhang
Keyword(s):  
Parallel Mechanism ◽  
Calibration Method ◽  
Labor Intensity ◽  
Kinematic Calibration ◽  
Kinematic Parameters ◽  
Accuracy Improvement ◽  
Pointing Error ◽  
Accuracy Measurement ◽  
Aircraft Fuselage ◽  
Docking Experiment

A double-positions 4-PPPS parallel mechanism is used for the aircraft fuselage assembly process to improve the docking efficiency and reduce the labor intensity. However, the accuracy is hard to guarantee, for the mechanism is large and redundant and has manufacturing and assembly errors. To improve the accuracy of the 4-PPPS parallel aircraft fuselage docking system, firstly, an averaging iteration method is proposed to calibrate the datum points in the airplane coordinate which are the references of the entire docking system. And secondly, a kinematic calibration method based on the derivative of the spatial pose transformation is proposed to calibrate up to 42 kinematic parameters. By these two methods, the final maximum position error reduced from 2.2 mm to 0.035 mm and the maximum pointing error reduced from 0.08 degree to 0.018 degree. The accuracy measurement and docking experiment prove the efficiency of the proposed methods.

Kinematic Calibration Method of Robots Based on Distance Error

ROBOT ◽  
2013 ◽  
Vol 35 (5) ◽  
pp. 600 ◽  
Author(s):  
Wenbin GAO ◽  
Hongguang WANG ◽  
Yong JIANG ◽  
Xin'an PAN
Keyword(s):  
Calibration Method ◽  
Kinematic Calibration ◽  
Distance Error

A Kinematic Calibration Method for Industrial Robots Using Autonomous Visual Measurement

CIRP Annals ◽  
2006 ◽  
Vol 55 (1) ◽  
pp. 1-6 ◽  
Author(s):  
A. Watanabe ◽  
S. Sakakibara ◽  
K. Ban ◽  
M. Yamada ◽  
G. Shen ◽  
...  
Keyword(s):  
Calibration Method ◽  
Industrial Robots ◽  
Kinematic Calibration ◽  
Visual Measurement

Vision‐based kinematic calibration of an H4 parallel mechanism: practical accuracies

2004 ◽  
Vol 31 (3) ◽  
pp. 273-283 ◽  
Author(s):  
Nicolas Andreff ◽  
Pierre Renaud ◽  
Philippe Martinet ◽  
Franc¸ois Pierrot
Keyword(s):  
Parallel Mechanism ◽  
Kinematic Calibration

scholarly journals Calibration Method for a Parallel Mechanism Type Machine Tool by Response Surface Methodology –Consideration via Simulation on a Stewart Platform Mechanism–

2010 ◽  
Vol 4 (4) ◽  
pp. 355-363 ◽  
Author(s):  
Hiroshi Yachi ◽  
◽  
Hiroshi Tachiya
Keyword(s):  
Response Surface Methodology ◽  
Response Surface ◽  
Parallel Mechanism ◽  
Measurement Data ◽  
Calibration Method ◽  
Stewart Platform ◽  
Parallel Mechanisms ◽  
Data Set ◽  
Efficient Data ◽  
Efficient Measurement

This paper proposes a calibration method for parallel mechanisms usingResponse Surface Methodology. This method is a statistical approach to estimating an unknown input-output relationship using a small set of efficient data collected on an intended system. Although identifying locations causing positional errors in a parallel mechanism and precisely measuring the position and posture of the output point are difficult, the proposed calibration method based onResponse Surface Methodologyaims to compensate for positional and postural errors, without indentifying the locations causing these errors, by using a small yet efficient measurement data set. This study analyzes the effectiveness of the method we propose by applying it to a Stewart platform, which is a typical spatial 6-DOF parallel mechanism.

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