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Accuracy of a Novel Parallel Robot with Orthogonal Chains

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Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5315))

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Abstract

A novel parallel robot with orthogonal chains and redundant actuators was designed for simulator. In order to improve the accuracy of the simulator, a comprehensive error model and a new method of kinematic calibration were studied. Based on the orthogonal feature of the mechanism and the principle of the influence coefficients, the error model was established, which accommodated all possible geometrical errors: the joint manufacturing errors, the installation errors, the actuation errors etc. A sensitivity index was designed to characterize the influence of the error sources on the end precision. Based on the index, error analysis was carried out to decide the major errors that need to be identified in kinematic calibration. Furthermore, a new calibration method based on relative displacement measurement was presented for avoiding the high-cost end pose measurement. Finally, the simulation of the calibration gave the validation of the new method.

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Authors and Affiliations

  1. School of Mechanical Engineering & Automation, BeiHang University, Beijing, 100083, China

    Wei Liu & Kaicheng Qi

  2. School of Mechanical Engineering, Hebei University of Technology, Tianjin, 300130, China

    Wei Liu & Kaicheng Qi

  3. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200030, China

    Feng Gao & Jianzheng Zhang

Authors
  1. Wei Liu
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  2. Feng Gao
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  3. Kaicheng Qi
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  4. Jianzheng Zhang
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong

  2. The Institute of Industrial Research, University of Portsmouth, UK

    Honghai Liu

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Yongan Huang  & Youlun Xiong  & 

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© 2008 Springer-Verlag Berlin Heidelberg

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Liu, W., Gao, F., Qi, K., Zhang, J. (2008). Accuracy of a Novel Parallel Robot with Orthogonal Chains. In: Xiong, C., Liu, H., Huang, Y., Xiong, Y. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88518-4_129

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  • DOI: https://doi.org/10.1007/978-3-540-88518-4_129

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88516-0

  • Online ISBN: 978-3-540-88518-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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