Kinematic Calibration and Forecast Error Compensation of a 2-DOF Planar Parallel Manipulator

作     者：CHANG Peng LI Chengrong LI Tiemin 

作者机构：Hi-tech Innovation CenterInstitute of AutomationChinese Academy of SciencesBeijing 100190China Department of Precision Instruments and MechanologyTsinghua UniversityBeijing 100084China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报(英文版))

年 卷 期：2011年第24卷第6期

页      面：992-998页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 082503[工学-航空宇航制造工程] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 

基　　金：supported by National Natural Science Foundation of China(Grant No. 50805140) National Hi-tech Research and Development Program of China(863 Program,Grant No. 2007AA04Z227) 

主　　题：parallel manipulator kinematic calibration error compensation minimal linear combinations (MLCs) 

摘      要：Due to large workspace,heavy-duty and over-constrained mechanism,a small deformation is caused and the precision of the 2-DOF planar parallel manipulator is *** kinematic calibration cannot compensate the end-effector errors caused by the small *** paper presents a method combined step kinematic calibration and linear forecast real-time error compensation in order to enhance the precision of a two degree-of-freedom(DOF) planar parallel manipulator of a hybrid machine *** the step kinematic calibration phase of the method,the end-effector errors caused by the errors of major constant geometrical parameters is *** step kinematic calibration is based on the minimal linear combinations(MLCs) of the error *** simple and feasible measurements in practice are given,and identification analysis of the set of the MLCs for each measurement is carried *** to identification analysis results,both measurement costs and observability are considered,and a step calibration including step measurement,step identification and step error compensation is *** linear forecast real-time error compensation is used to compensate the end-effector errors caused by other parameters after the step kinematic *** the advantages of the step kinematic calibration and the linear forecast real-time error compensation,a method for improving the precision of the 2-DOF planar parallel manipulator is *** results show that the proposed method is robust and effective,so that the position errors are kept to the same order of the measurement *** presented method is attractive for the 2-DOF planar parallel manipulator and can be also applied to other parallel manipulators with fewer than six DOFs.