DocumentCode
3355254
Title
Calibration of a 6-PRRS parallel manipulator using D-H method combined with vector chain
Author
Yang, Yonggang ; Liu, Yubin ; Pi, Jun ; Shi, Yongsheng ; Li, Wei
Author_Institution
Aeronaut. Mech. Coll., Civil Aviation Univ. of China, Tianjin, China
fYear
2009
fDate
9-12 Aug. 2009
Firstpage
3944
Lastpage
3948
Abstract
Calibration of a 6-PRRS parallel manipulator is studied, a compensation method based on kinematic model is proposed. This method using D-H modeling method sets up 6-PRRS parallel manipulator kinematic model, then identifies and compensates the error in model using vector chain. This method can compensate manufacturing error and some assembling error. The results of experiments show the error can reduce to less than IS percent of the original by this method.
Keywords
calibration; error compensation; manipulator kinematics; 6 PRRS parallel manipulator calibration; D-H modeling method; assembling error compensation; kinematic model; manufacturing error compensation; vector chain; Assembly; Calibration; Educational institutions; Error compensation; Jacobian matrices; Kinematics; Machining; Manipulators; Robotics and automation; Solid modeling; Parallel manipulator; calibration; error compensation; vector chain;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location
Changchun
Print_ISBN
978-1-4244-2692-8
Electronic_ISBN
978-1-4244-2693-5
Type
conf
DOI
10.1109/ICMA.2009.5244878
Filename
5244878
Link To Document