Optimum calibration of a parallel kinematic manipulator using digital indicators

查看全文 作　　者：[1]V.B.Saputra;[1]S.K.Ong;[1]A.Y.C.Nee

机构地区：[1]Department of Mechanical Engineering,Faculty of Engineering,National University of Singapore,Singapore 117576,Singapore

出　　处：《Advances in Manufacturing》索引2014年第2卷第3期,共9页

摘　　要：This paper presents a calibration method for parallel manipulators using a measurement system specially installed on an external fixed frame.The external fixed frame is important as an error reference for calibration in certain operations,such as in the configuration of a parallel manipulator functioning as a machine tool where the workpiece is fixed to a worktable.The pose of the end-effector is measured using three digital indicators installed on the external fixed frame.To enable measurement,the end-effector is assumed to be a plane large enough that all digital indicators could touch.The error is defined as the difference between the theoretical and actual readings of the digital indicators.The geometric parameters of the parallel manipulator are optimized to minimize this error.This calibration method is low cost and feasible for compensating geometric parameter errors for a parallel manipulator.Optimal pose selection for the calibration is achieved using a swarm intelligence search algorithm.The method is implemented on a prototype of a six degrees-of-freedom(DOFs) Gough-Stewart platform constructed to function as a machine tool. 关键词：并联机器人校准方法指标优化运动机器人 STEWART平台智能搜索算法测量系统几何参数

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Optimum calibration of a parallel kinematic manipulator using digital indicators

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