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Kinematic Calibration of a Cartesian Parallel Manipulator  

Kim, Han-Sung (School of Mechanical and Automation Engineering, Kyungnam University)
Publication Information
International Journal of Control, Automation, and Systems / v.3, no.3, 2005 , pp. 453-460 More about this Journal
Abstract
In this paper, a prototype Cartesian Parallel Manipulator (CPM) is demonstrated, in which a moving platform is connected to a fixed frame by three PRRR limbs. Due to the orthogonal arrangement of the three prismatic joints, it behaves like a conventional X-Y-Z Cartesian robot. However, because all the linear actuators are mounted at the fixed frame, the manipulator may be suitable for applications requiring high speed and accuracy. Using a geometric method and the practical assumption that three revolute joint axes in each limb are parallel to one another, a simple forward kinematics for an actual model is derived, which is expressed in terms of a set of linear equations. Based on the error model, two calibration methods using full position and length measurements are developed. It is shown that for a full position measurement, the solution for the calibration can be obtained analytically. However, since a ball-bar is less expensive and sufficiently accurate for calibration, the kinematic calibration experiment on the prototype machine is performed by using a ball-bar. The effectiveness of the kinematic calibration method with a ball-bar is verified through the well­known circular test.
Keywords
Ball-bar; cartesian robot; error model; kinematic calibration; parallel manipulator;
Citations & Related Records

Times Cited By Web Of Science : 4  (Related Records In Web of Science)
Times Cited By SCOPUS : 7
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