Open AccessJournal Article
Kinematic Calibration of a Cartesian Parallel Manipulator
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TLDR
A prototype Cartesian Parallel Manipulator is demonstrated, in which a moving platform is connected to a fixed frame by three PRRR limbs, and the effectiveness of the kinematic calibration method with a ball-bar is verified through the well- known circular test.Abstract:
In this paper, a prototype Cartesian Parallel Manipulator (CPM) is demonstrated, in which a moving platform is connected to a fixed frame by three PRRR limbs. Due to the orthogonal arrangement of the three prismatic joints, it behaves like a conventional X-Y-Z Cartesian robot. However, because all the linear actuators are mounted at the fixed frame, the manipulator may be suitable for applications requiring high speed and accuracy. Using a geometric method and the practical assumption that three revolute joint axes in each limb are parallel to one another, a simple forward kinematics for an actual model is derived, which is expressed in terms of a set of linear equations. Based on the error model, two calibration methods using full position and length measurements are developed. It is shown that for a full position measurement, the solution for the calibration can be obtained analytically. However, since a ball-bar is less expensive and sufficiently accurate for calibration, the kinematic calibration experiment on the prototype machine is performed by using a ball-bar. The effectiveness of the kinematic calibration method with a ball-bar is verified through the well- known circular test.read more
Citations
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References
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Journal ArticleDOI
Kinematic analysis of a three degrees of freedom in-parallel actuated manipulator
Kok-Meng Lee,D. Shah +1 more
TL;DR: The dynamic analysis of a three-degrees-of-freedom in-parallel actuated manipulator provides a basis for future theoretical research to develop the control scheme, for experimental research to estimate the inertia parameters, and for design optimization of the prototype manipulator.
Journal ArticleDOI
Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator
Lung-Wen Tsai,Sameer A. Joshi +1 more
TL;DR: In this paper, the structural characteristics associated with parallel manipulators are investigated and a class of 3 degree-of-freedom (3-UPUF) manipulators with only translational degrees of freedom are identified.
Journal ArticleDOI
DELTA: a simple and efficient parallel robot
TL;DR: This paper presents solutions for a complete modeling of the DELTA parallel robot (direct and inverse kinematics, inverse statics, inverse dynamics), with few arithmetic and trigonometric operations.
Journal ArticleDOI
Design Optimization of a Cartesian Parallel Manipulator
Han Sung Kim,Lung-Wen Tsai +1 more
TL;DR: The Cartesian Parallel Manipulator (CPM) as mentioned in this paper consists of a moving platform that is connected to a fixed base by three limbs and each limb is made up of one prismatic and three revolute joints and all joint axes are parallel to one another.
Proceedings ArticleDOI
Kinematics of a novel three DOF translational platform
TL;DR: A novel 3-DOF parallel manipulator is presented that employs only revolute joints and constrains the manipulator output to translational motion and closed-form solutions are developed for both the inverse and forward kinematics.