A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator

This paper proposes a method for kinematic calibration of a 3T1R, 4-degree-of-freedom symmetrical parallel manipulator driven by two pairs of linear actuators. The kinematic model of the individual branched chain is established by using the local product of exponentials formula. Based on this model,...

Full description

Saved in:
Bibliographic Details
Published in:Symmetry (Basel) 2020-03, Vol.12 (3), p.357
Main Authors: Zhang, Fengxuan, Chen, Silu, He, Yongyi, Ye, Guoyun, Zhang, Chi, Yang, Guilin
Format: Article
Language:English
Subjects:
Accuracy
Actuators
Calibration
Chain branching
Chains
Computer simulation
Constraint modelling
differential geometry
End effectors
Identification methods
Kinematics
Methods
Parallel degrees of freedom
parallel manipulator
parallel mechanism
Parameter identification
Product of exponentials formula
Recursive methods
Robots
Sensors
symmetrical mechanism
Symmetry
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper proposes a method for kinematic calibration of a 3T1R, 4-degree-of-freedom symmetrical parallel manipulator driven by two pairs of linear actuators. The kinematic model of the individual branched chain is established by using the local product of exponentials formula. Based on this model, the model of the end effector’s pose error is established from a pair of symmetrical branched chains, and a recursive least square method is applied for the parameter identification. By installing built-in sensors at the passive joints, a calibration method for a serial manipulator is eventually extended to this parallel manipulator. Specifically, the sensor installed at the second revolute joint of each branched chain is saved, replaced by numerical calculation according to kinematic constraints. The simulation results validate the effectiveness of the proposed kinematic error modeling and identification methods. The procedure for pre-processing compensation on this 3T1R parallel manipulator is eventually given to improve its absolute positioning accuracy, using the inverse of the calibrated kinematic model.
ISSN:2073-8994
2073-8994
DOI:10.3390/sym12030357