A calibration procedure for reconfigurable Gough-Stewart manipulators

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).

Figures

Table 2. Initial geometry for the calibration procedure.

Fig. 8. Influence of number of poses on mean and maximum error.

Fig. 7. Convergence graph of the calibration algorithm: a) first calibration (18 parameters, fixed joints); b) second calibration (36 parameters, fixed and mobile joints)

Fig. 3. Algorithm for the identification of the parameters to calibrate.

Fig. 6. Frame and double ball-bars for the calibration of Free-Hex.

Fig. 1. Kinematic scheme of a Gough-Stewart platform.

Frequently asked questions

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. 

Q2. What future works have the authors mentioned in the paper "A calibration procedure for reconfigurable gough-stewart manipulators" ?

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 ).