A DBB-Based Kinematic Calibration Method for In-Parallel Actuated Mechanisms Using a Fourier Series

[+] Author and Article Information
Yukio Takeda

Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1, O-okayama, Meguro-ku, Tokyo 152-8552, Japane-mail:takeda@mech.titech.ac.jp

Gang Shen

Robot Laboratory, FANUC LTD, Oshino-mura, Yamanashi 401-0597, Japan

Hiroaki Funabashi

Department of Mechanical Engineering, Shibaura Institute of Technology, 3-9-14, Shibaura, Minato-ku, Tokyo 108-8548, Japan

J. Mech. Des 126(5), 856-865 (Oct 28, 2004) (10 pages) doi:10.1115/1.1767822 History: Received January 01, 2003; Revised February 01, 2004; Online October 28, 2004
Copyright © 2004 by ASME
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The DBB (Double-Ball-Bar) system
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Algorithm for determining the set of measurement paths
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Crank-type spatial in-parallel actuated mechanism with six degrees of freedom
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Locations of joints on the base and output links
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Overview of the experimental worktable
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Error parameters in each connecting chain
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The maximum resultant error ΔrD max with respect to the number of iterations when no measurement error is included
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Condition number CG with respect to the number of iterations (Ns=24)
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Condition number CG vs. number of paths Ns used in the calibration
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Pose accuracy (AP) after calibration vs. condition number CG(Ns=8, 10, 12, 16, 24 from right). (a) whole population; (b) the population obtained using the first step.
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The process of convergence of a parameter X1,4 with respect to the number of iterations. (a) large scale; (b) small scale.
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Results of DBB test before and after calibration
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Distance and orientation error during linear motion in X direction after calibration (Z=630 mm). (a) distance error; (b) orientation error.




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