Kinematic Calibration of the 3-DOF Module of a 5-DOF Reconfigurable Hybrid Robot using a Double-Ball-Bar System

Author

Huang, T. ; Hong, Z.Y. ; Mei, J.P. ; Chetwynd, D.G.

Author_Institution

Mech. Eng., Tianjin Univ.

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

508

Lastpage

512

Abstract

This paper deals with the kinematic calibration of a 3-DOF parallel mechanism using a double-ball-bar (DBB) system. The mechanism forms the main body of a 5-DOF reconfigurable hybrid robot named TriVariant that is a modified version of the Tricept, achieved by integrating one of its three active limbs into the passive one. The first order error mapping function is formulated to link the measured data and the geometric source errors affecting the compensatable pose accuracy. Issues to enhance the accuracy and efficiency of the calibration are investigated. The results are employed to a prototype machine calibration

Keywords

calibration; robot kinematics; 5-DOF reconfigurable hybrid robot; TriVariant; Tricept; double-ball-bar system; first order error mapping function; kinematic calibration; prototype machine calibration; Calibration; Intelligent robots; Joining processes; Kinematics; Magnetic heads; Mechanical engineering; Parameter estimation; Prototypes; Solid modeling; Uninterruptible power systems; DBB; Kinematic calibration; Parallel kinematic machines;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.281651

Filename

4059243