Study on Calibration of 3-UPS/S Parallel Kinematic Mechanism

Abstract:

The calibration of a 3-UPS/S parallel kinematic mechanism using the laser tracker is presenter. Because the workspace of the joints are small when the mechanism is in its fully assembled state. The coordinates of the base and platform joints are measured in the base and platform assembly module respectively. The measurement is based on sequential determination that takes a fixed-point as the center of a sphere and rotates a target reflector fixed on a strut to envelop a sphere. In addition, to make the moving platform keeping horizontal while the mechanism is in its initial state, a horizontal plane is fitted during calibration.

• Periodical: Advanced Materials Research (Volume 422)
• Pages: 519-524
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.422.519
• Online since: December 2011
• Authors: Xian Guo Han, Shu Chen Wan, Ming Rong Tian
• Keywords: Calibration, Laser Tracker, Parallel Kinematic Mechanism, Sequential Determination

References

[1] Zhang Xiaowu, Chen Wuyi, Han Xianguo, Pei Baoqing. Study on Calibration of 3PSS Parallel Kinematic Machines. Proceedings of the 8th International Conference on Progress of Machining Technology. Matsue, Japan, Nov. 2006: 193~196

[2] Wang Jinsong, Huang Tian. Parallel Machine Tool—A Forthcoming Opportunity and Challenge to the Machine Tool Industry [J]. China Mechanical Engineering. 1999.10: 1103~1107

[3] Hanqi Zhuang. Self-calibration of parallel mechanisms with a case study on Stewart plarforms. IEEETrans.on Robotics and Automation, 1997,13(3):387-397

DOI: 10.1109/70.585901

[4] Besnard S, Khalil W. Identifiable parameters for parallel robots kinematic calibration. Proc. Of ICRA, Seoul, Korea, 2001:2859-2866

DOI: 10.1109/robot.2001.933055

[5] Bernhard Jokiel, Jr, John C. Ziegert. Sequential Determination of Kinematic Parameters in Assembled Stewart Platform Manipulators[C]. Proceedings of 1999ASPE Annual Meeting, April, 1999: 57~61