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Stiffness estimation of a parallel manipulator using image analysis and camera calibration techniques

Published online by Cambridge University Press:  19 November 2012

Abraham Gonzalez-Hernandez  and
Eduardo Castillo-Castaneda
Abraham Gonzalez-Hernandez*
Affiliation:
Instituto Politecnico Nacional, CICATA Unidad Queretaro, Cerro Blanco 141, Colinas del Cimatario, 76090 Queretaro, Mexico
Eduardo Castillo-Castaneda
Affiliation:
Instituto Politecnico Nacional, CICATA Unidad Queretaro, Cerro Blanco 141, Colinas del Cimatario, 76090 Queretaro, Mexico
*
*Corresponding author. E-mail: ecastillo@ipn.mx
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Summary

This work presents a methodology using image analysis to estimate the experimental stiffness of a parallel robot, Parallix LKF-2040, a 3-degree-of-freedom manipulator. The proposed methodology has a simple implementation and can be applied to different architectures of parallel robots. This methodology uses image analysis and camera calibration techniques to estimate compliant displacements of mobile platform produced by several loads at the end effector level, and calculate stiffness in a specific position of mobile platform. Experimental results are presented for different positions within the workspace.

Keywords

StiffnessParallel manipulatorCamera calibrationImage analysis
Type
Articles
Information
Robotica , Volume 31 , Issue 4 , July 2013 , pp. 657 - 667
Copyright
Copyright © Cambridge University Press 2012 

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