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



Grahic Jump Location
The DBB (Double-Ball-Bar) system
Grahic Jump Location
Algorithm for determining the set of measurement paths
Grahic Jump Location
Crank-type spatial in-parallel actuated mechanism with six degrees of freedom
Grahic Jump Location
Locations of joints on the base and output links
Grahic Jump Location
Overview of the experimental worktable
Grahic Jump Location
Error parameters in each connecting chain
Grahic Jump Location
The maximum resultant error ΔrD max with respect to the number of iterations when no measurement error is included
Grahic Jump Location
Condition number CG with respect to the number of iterations (Ns=24)
Grahic Jump Location
Condition number CG vs. number of paths Ns used in the calibration
Grahic Jump Location
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.
Grahic Jump Location
The process of convergence of a parameter X1,4 with respect to the number of iterations. (a) large scale; (b) small scale.
Grahic Jump Location
Results of DBB test before and after calibration
Grahic Jump Location
Distance and orientation error during linear motion in X direction after calibration (Z=630 mm). (a) distance error; (b) orientation error.




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