A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator
文献类型：期刊论文
| 作者 | Zhang, Fengxuan; Chen, Silu; He, Yongyi; Ye, Guoyun; Zhang, Chi; Yang, Guilin |
| 刊名 | SYMMETRY-BASEL
 |
| 出版日期 | 2020 |
| 卷号 | 12期号:3 |
| 关键词 | ROBOT CALIBRATION IDENTIFICATION MODEL |
| DOI | 10.3390/sym12030357 |
| 英文摘要 | 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. |
| 学科主题 | Science & Technology - Other Topics |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/19906]  |
| 专题 | 2020专题 2020专题_期刊论文 |
| 作者单位 | Chen, SL (corresponding author), Chinese Acad Sci, Ningbo Inst Mat Technol & Engn, Zhejiang Key Lab Robot & Intelligent Mfg Equipmen, Ningbo 315201, Peoples R China. |
| 推荐引用方式 GB/T 7714 | Zhang, Fengxuan,Chen, Silu,He, Yongyi,et al. A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator[J]. SYMMETRY-BASEL,2020,12(3). |
| APA | Zhang, Fengxuan,Chen, Silu,He, Yongyi,Ye, Guoyun,Zhang, Chi,&Yang, Guilin.(2020).A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator.SYMMETRY-BASEL,12(3). |
| MLA | Zhang, Fengxuan,et al."A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator".SYMMETRY-BASEL 12.3(2020). |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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