Complete kinematic calibration of a 6-RRRPRR parallel kinematic machine based on the optimal measurement configurations

doi:10.1177/0954406219869985

CIOMP OpenIR

	Complete kinematic calibration of a 6-RRRPRR parallel kinematic machine based on the optimal measurement configurations
	C.Y.Han; Y.Yu; Z.B.Xu; X.M.Wang; P.Yu; X.Q.Zhou
	2019
发表期刊	Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science
ISSN	0954-4062
卷号	234 期号:1 页码:121-136
摘要	This paper presents a kinematic calibration of a 6-RRRPRR parallel kinematic mechanism with offset RR-joints that would be applied in space positioning field. In order to ensure highly accurate and highly effective calibration process, the complete error model, which contains offset universal joint errors, is established by differentiating inverse kinematic model. A calibration simulation comparison with non-complete error model shows that offset universal joint errors are crucial to improve the calibration accuracy. Using the error model, an optimal calibration configuration selection algorithm is developed to determine the least number of measurement configurations as well as the optimal selection of these configurations from the feasible configuration set. To verify the effectiveness of kinematic calibration, a simulation and experiment were performed. The results show that the developed approach can effectively improve accuracy of a parallel kinematic mechanism with relatively low number of calibration configurations.
关键词	Parallel kinematic machine,complete error model,observability index,optimal measurement configurations,calibration experiment,identifiable parameters,robot calibration,stiffness,design
DOI	10.1177/0954406219869985
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收录类别	SCI
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/63350
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	C.Y.Han,Y.Yu,Z.B.Xu,et al. Complete kinematic calibration of a 6-RRRPRR parallel kinematic machine based on the optimal measurement configurations[J]. Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,2019,234(1):121-136.
APA	C.Y.Han,Y.Yu,Z.B.Xu,X.M.Wang,P.Yu,&X.Q.Zhou.(2019).Complete kinematic calibration of a 6-RRRPRR parallel kinematic machine based on the optimal measurement configurations.Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,234(1),121-136.
MLA	C.Y.Han,et al."Complete kinematic calibration of a 6-RRRPRR parallel kinematic machine based on the optimal measurement configurations".Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science 234.1(2019):121-136.

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Complete kinematic c（2276KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载