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Open AccessJournal ArticleDOI

A calibration procedure for reconfigurable Gough-Stewart manipulators

Matteo Russo, +1 more
- 01 Oct 2020 - 
- Vol. 152, pp 103920
TLDR
A calibration procedure for the identification of the geometrical parameters of a reconfigurable Gough-Stewart parallel manipulator is introduced and a numeric algorithm for an efficient solution to the problem is proposed.
About: 
This article is published in Mechanism and Machine Theory.The article was published on 2020-10-01 and is currently open access. It has received 17 citations till now. The article focuses on the topics: Parallel manipulator & Calibration (statistics).

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Journal ArticleDOI

Measuring Performance: Metrics for Manipulator Design, Control, and Optimization

Matteo Russo
- 23 Dec 2022 - 
TL;DR: In this paper , a survey aimed at collecting, classifying, and analyzing the key works on the topic, with a focus on mechanical performance metrics for industrial robots is presented, and two diverging trends are outlined with commercial standards adopting a limited set of metrics and academic research encouraging the development of new performance indices.
DOI

Novel Reconfigurable Walking Machine Tool Enables Symmetric and Nonsymmetric Walking Configurations

Josue Camacho-Arreguin, +4 more
- 01 Dec 2022 - 
TL;DR: In this paper , a parallel reconfigurable walking machine tool with shape memory alloy actuation is presented to achieve reconfiguration capabilities, and the optimal walking gaits are determined by kinematic, stability, and force analyses.
Journal ArticleDOI

Mechanical Deformation Analysis of a Flexible Finger in Terms of an Improved ANCF Plate Element

Yanfen Ding, +6 more
- 27 Jun 2022 - 
TL;DR: In this paper , an improved ANCF lower-order plate element is used to increase the accuracy of the Yeoh model and characterize the geometrical structure of silicone rubber fingers, taking into particular consideration the effect of volume locks and multi-body system constraints.
Journal ArticleDOI

Towards collision detection in foot and ankle deformity correction using parallel external fixator: A novel analytical approach

Mingjie Dong, +1 more
- 01 Dec 2022 - 
TL;DR: Wang et al. as discussed by the authors proposed an analytical detection approach for bone cross-section (BCS) collision and soft tissue (ST)-distraction rod (DR) collision on the path and then affect the continuity of the process.
Book ChapterDOI

Effect of Thermal and Mechanical Training in Twisted and Coiled Polymer Fiber (TCPF) Artificial Muscle for Improved Actuation Consistency

Robert M. Raphael
TL;DR: In this paper , the authors investigated the effect of twisting weight, annealing temperature and pre-stretch as mechanical and thermal training, and the contraction forces were characterized, which offered a guidance for the high-performance artificial muscle in compliant structures and tense grity robot.
References
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Journal ArticleDOI

Self-calibration of parallel mechanisms with a case study on Stewart platforms

Hanqi Zhuang
TL;DR: It is shown that by installing a number of redundant sensors on the Stewart platform, the system is able to perform self-calibration and the approach provides a tool for rapid and autonomous calibration of the parallel mechanism.
Journal ArticleDOI

An implicit loop method for kinematic calibration and its application to closed-chain mechanisms

Charles W. Wampler, +2 more
TL;DR: A unified formulation for the calibration of both serial-link robots and robotic mechanisms having kinematic closed-loops is presented and applied experimentally to two 6-degree-of-freedom devices: the RSI 6-DOF hand controller and the MEL "modified Stewart platform".
Journal ArticleDOI

Self calibration of Stewart-Gough parallel robots without extra sensors

Wisama Khalil, +1 more
TL;DR: The calibration makes use of the motorized prismatic joint positions corresponding to some sets of configurations where in each set either a passive universal joint or a passive spherical joint is fixed using a lock mechanism.
Journal ArticleDOI

Kinematic calibration of the parallel Delta robot

Peter Vischer, +1 more
- 01 Mar 1998 - 
TL;DR: This article deals with the kinematic calibration of the Delta robot and a measurement set-up is presented which allows to determine the end-effector's position and orientation with respect to the base.
Proceedings ArticleDOI

Identifiable parameters for parallel robots kinematic calibration

S. Besnard, +1 more
TL;DR: A numerical method for the determination of the identifiable parameters of parallel robots based on QR decomposition of the observation matrix of the calibration system is presented.
Related Papers (5)

Self-calibration of a class of parallel manipulators

Hanqi Zhuang, +1 more

An Accurate Algorithm for the Real-Time Solution of the Direct Kinematics of 6–3 Stewart Platform Manipulators

R. Vertechy, +2 more

An improved design algorithm based on interval analysis for spatial parallel manipulator with specified workspace

Jean-Pierre Merlet

A New Approach for the Dynamic Analysis of Parallel Manipulators

Jiegao Wang, +1 more
- 01 Sep 1998 - 

Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators

Benjamin L. Moser, +2 more
- 17 Nov 2021 - 
Frequently Asked Questions (2)
Q1. What contributions have the authors mentioned in the paper "A calibration procedure for reconfigurable gough-stewart manipulators" ?

This paper introduces a calibration procedure for the identification of the geometrical parameters of a reconfigurable Gough-Stewart parallel manipulator. Furthermore, an application of the proposed method is discussed with a numerical example, and the behaviour of the calibration procedure is analysed as a function of the number of acquisitions and the number of poses. 

Since the procedure follows a linear approximation with the assumption of small parameter variation, it is possible to study the dependency of limb length on position and geometry independently. A direct derivation of the total differential of Eq. ( 2. 2 ) yields the same result without decoupling the system and can be obtained by expanding Eq. ( A. 5 ) without applying conditions ( A. 6 ) or ( A. 9 ).