Kinematic Calibration of a 2UPR&2RPS Redundantly Actuated Parallel Robot

doi:10.3901/JME.2021.15.062

Abstract

Abstract: Kinematic calibration is an effective way to improve the kinematic accuracy of parallel robots. An approach of kinematic calibration is proposed to improve the kinematic accuracy of a 2UPR&2RPS redundantly actuated parallel robot. By projecting the error loop closure equations in the directions of actuation and constraint of each limb, an error model of the robot is established. Based on the established model, the compensable and uncompensable source errors are sorted out. Sensitivity indices are formulated through the derivation of error mapping matrix, based on which a sensitivity analysis is carried out to find out those uncompensable source errors that have relatively "strong" impact on the terminal error. An error identification model is further established by using the regularization method based on a laser tracker. A calibration experiment is performed to verify the validity of the proposed approach.

Key words: kinematic calibration, redundantly actuated parallel robot, error modelling, sensitivity analysis, error identification

CLC Number:

TP24

ZHANG Jun, JIANG Shujia, CHI Changcheng. Kinematic Calibration of a 2UPR&2RPS Redundantly Actuated Parallel Robot[J]. Journal of Mechanical Engineering, 2021, 57(15): 62-70.

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