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Fast identification method for kinematic parameters of a planar 2-Dof parallel manipulator

Shuang Cong

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Abstract

Based on the closed-loop constraint equations,the model of the kinematic error of a planar 2-Dof(degree of freedom) parallel manipulator was constructed.With the model,a two-step iteration method was proposed for the kinematic calibration of the parallel manipulator.By estimating the passive joint errors and the kinematic parameter errors,the kinematic parameters of the parallel manipulator can be calibrated with the method.Through the simulations for the calibration of the 12 kinematic parameters of the parallel manipulator,the validity of the method was verified and precise calibration results were obtained for the kinematic parameters.

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What this paper is about

Based on the closed-loop constraint equations,the model of the kinematic error of a planar 2-Dof(degree of freedom) parallel manipulator was constructed.With the model,a two-step iteration method was proposed for the kinematic calibration of the parallel manipulator.By estimating the passive joint errors and the kinematic parameter errors,the kinematic parameters of the parallel manipulator can be calibrated with the method.Through the simulations for the calibration of the 12 kinematic parameters of the parallel manipulator,the validity of the method was verified and precise calibration results were obtained for the kinematic parameters.

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Available abstract

Based on the closed-loop constraint equations,the model of the kinematic error of a planar 2-Dof(degree of freedom) parallel manipulator was constructed.With the model,a two-step iteration method was proposed for the kinematic calibration of the parallel manipulator.By estimating the passive joint errors and the kinematic parameter errors,the kinematic parameters of the parallel manipulator can be calibrated with the method.Through the simulations for the calibration of the 12 kinematic parameters of the parallel manipulator,the validity of the method was verified and precise calibration results were obtained for the kinematic parameters.

Key concepts: Kinematics, Parallel manipulator, Planar, Control theory (sociology), Calibration, Constraint (computer-aided design), Kinematics equations, Serial manipulator

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