Kinematic Calibration for Redundantly Actuated Parallel Mechanisms

[+] Author and Article Information
Jay il Jeong, Dongsoo Kang, Young Man Cho, Jongwon Kim

School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, 151-742, Korea

J. Mech. Des 126(2), 307-318 (May 05, 2004) (12 pages) doi:10.1115/1.1667902 History: Received May 01, 2002; Revised July 01, 2003; Online May 05, 2004
Copyright © 2004 by ASME
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Error propagation mechanism of redundantly actuated parallel mechanism
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An example to derive relationship between constraint torque and torsional deflection
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Kinematic structure of the planar 2-DOF parallel mechanism
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Singularity regions according to the actuated joints
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Schematic figure with error parameters
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Result of independent joint selection with minimum condition number
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Union set of condition number inverse according to selected subset of independent joints
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Experimental stand for 2-DOF parallel mechanism
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Experimental setup for torsional deflection and internal torque measurements
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Relationship of joint deflections and internal torque measured values of actuating joint
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Measuring points on whole workspace
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Laser Ball Bar measurement set-up
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Measured error using laser ball bar
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Maximum accuracy of optimization vs. measuring points No.
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Measured error and calculated error using optimized kinematic parameter
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Comparison for accuracy and repeatability before and after calibration




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