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research-article

Kinematic Calibration of a 3-DOF Parallel Manipulator with a Laser Tracker

[+] Author and Article Information
Leiying He

Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, 928 Second Avenue, Xiasha Higher Education Zone, Hangzhou, China, 310018
hlying@zstu.edu.cn

Qinchuan Li

Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, 928 Second Avenue, Xiasha Higher Education Zone, Hangzhou, China, 310018
lqchuan@zstu.edu.cn

Xubiao Zhu

Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, 928 Second Avenue, Xiasha Higher Education Zone, Hangzhou, China, 310018
447690649@qq.com

Chuan-yu Wu

Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, 928 Second Avenue, Xiasha Higher Education Zone, Hangzhou, China, 310018
cywu@zstu.edu.cn

1Corresponding author.

ASME doi:10.1115/1.4041749 History: Received January 04, 2017; Revised October 08, 2018

Abstract

Kinematic calibration is commonly used to improve the accuracy of a parallel mechanism. This paper presents an effective method for calibrating the three-degree-of-freedom parallel manipulator employing a direct kinematic model. An error-mapping function can be formulated from the differential geometry using a kinematic model with the error of the parallel manipulator established with a vector chain. To simplify the measurement of error, the positioning and orientation error of the moving platform is replaced by the positioning error of the tool center point, which can be measured by a laser tracker accurately. Three objective functions F1, F2, and F8 respectively representing 1-norm, 2-norm, and inf-norm of the error vector are used to identify parameters. Through computer simulation, evaluation of three objective functions showed that kinematic calibration with objective function F2 is highly accurate and efficient. An actual calibration experiment was carried out to verify the effectiveness of the method. The positioning error of calibration points reduced greatly from 3.904 to 0.256 mm during calibration procedure. The positioning error of points that were located in the space surrounded by the calibration points is smaller than 0.4 mm after error compensation.

Copyright (c) 2018 by ASME
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