Complete kinematic calibration of a 6-RRRPRR parallel kinematic machine based on the optimal measurement configurations
文献类型：期刊论文
| 作者 | C.Y.Han; Y.Yu; Z.B.Xu; X.M.Wang; P.Yu; X.Q.Zhou |
| 刊名 | Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science
 |
| 出版日期 | 2019 |
| 卷号 | 234期号:1页码:121-136 |
| 关键词 | Parallel kinematic machine,complete error model,observability index,optimal measurement configurations,calibration experiment,identifiable parameters,robot calibration,stiffness,design |
| ISSN号 | 0954-4062 |
| DOI | 10.1177/0954406219869985 |
| 英文摘要 | This paper presents a kinematic calibration of a 6-RRRPRR parallel kinematic mechanism with offset RR-joints that would be applied in space positioning field. In order to ensure highly accurate and highly effective calibration process, the complete error model, which contains offset universal joint errors, is established by differentiating inverse kinematic model. A calibration simulation comparison with non-complete error model shows that offset universal joint errors are crucial to improve the calibration accuracy. Using the error model, an optimal calibration configuration selection algorithm is developed to determine the least number of measurement configurations as well as the optimal selection of these configurations from the feasible configuration set. To verify the effectiveness of kinematic calibration, a simulation and experiment were performed. The results show that the developed approach can effectively improve accuracy of a parallel kinematic mechanism with relatively low number of calibration configurations. |
| URL标识 | 查看原文 |
| 语种 | 英语 |
| 源URL | [http://ir.ciomp.ac.cn/handle/181722/63350]  |
| 专题 | 中国科学院长春光学精密机械与物理研究所 |
| 推荐引用方式 GB/T 7714 | C.Y.Han,Y.Yu,Z.B.Xu,et al. Complete kinematic calibration of a 6-RRRPRR parallel kinematic machine based on the optimal measurement configurations[J]. Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,2019,234(1):121-136. |
| APA | C.Y.Han,Y.Yu,Z.B.Xu,X.M.Wang,P.Yu,&X.Q.Zhou.(2019).Complete kinematic calibration of a 6-RRRPRR parallel kinematic machine based on the optimal measurement configurations.Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science,234(1),121-136. |
| MLA | C.Y.Han,et al."Complete kinematic calibration of a 6-RRRPRR parallel kinematic machine based on the optimal measurement configurations".Proceedings of the Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Science 234.1(2019):121-136. |
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