0
TECHNICAL PAPERS

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
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Experimental stand for 2-DOF parallel mechanism
Grahic Jump Location
Experimental setup for torsional deflection and internal torque measurements
Grahic Jump Location
Relationship of joint deflections and internal torque measured values of actuating joint
Grahic Jump Location
Measuring points on whole workspace
Grahic Jump Location
Laser Ball Bar measurement set-up
Grahic Jump Location
Measured error using laser ball bar
Grahic Jump Location
Maximum accuracy of optimization vs. measuring points No.
Grahic Jump Location
Measured error and calculated error using optimized kinematic parameter
Grahic Jump Location
Comparison for accuracy and repeatability before and after calibration
Grahic Jump Location
Error propagation mechanism of redundantly actuated parallel mechanism
Grahic Jump Location
An example to derive relationship between constraint torque and torsional deflection
Grahic Jump Location
Kinematic structure of the planar 2-DOF parallel mechanism
Grahic Jump Location
Singularity regions according to the actuated joints
Grahic Jump Location
Schematic figure with error parameters
Grahic Jump Location
Result of independent joint selection with minimum condition number
Grahic Jump Location
Union set of condition number inverse according to selected subset of independent joints

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In