Calibration of a 4-dof Parallel Manipulator

Parallel manipulators are preferred to serial manipulators for their high positioning accuracy, high stiffness etc. But the accuracy will be restricted for some factors, especially manufacture and assemble errors. The paper presents the manipulator´s kinematics first, and then its error model is discussed by the perturbation method. And after introduce the parallel manipulator´s kinematics calibration, two calibration methods are used to compensate the manipulator´s geometric error, discuss the device, algorithm and procedure. Finally, the Matlab simulate of a kind of IK calibration is presented, and the simulate results are discussed meanwhile