This paper presents a calibration method for parallel manipulators using a measurement system specially installed on an external fixed frame. The external fixed frame is important as an error reference for calibration...This paper presents a calibration method for parallel manipulators using a measurement system specially installed on an external fixed frame. The external fixed frame is important as an error reference for calibration in certain operations, such as in the configuration of a parallel manip- ulator functioning as a machine tool where the workpiece is fixed to a worktable. The pose of the end-effector is mea- sured using three digital indicators installed on the external fixed frame. To enable measurement, the end-effector is assumed to be a plane large enough that all digital indicators could touch. The error is defined as the difference between the theoretical and actual readings of the digital indicators. The geometric parameters of the parallel manipulator are optimized to minimize this error. This calibration method is low cost and feasible for compensating geometric parameter errors for a parallel manipulator. Optimal pose selection for the calibration is achieved using a swarm intelligence search algorithm. The method is implemented on a prototype of a six degrees-of-freedom （DOFs） Gough-Stewart platform constructed to function as a machine tool.展开更多
A laser-scanning calibre measuring and digital indicating grating photosensor gauging systems are introduced,which are used to measure the dimensions of bullet.In the paper,we expound the operation principle and desig...A laser-scanning calibre measuring and digital indicating grating photosensor gauging systems are introduced,which are used to measure the dimensions of bullet.In the paper,we expound the operation principle and design idea of the principal parts and units.展开更多
文摘This paper presents a calibration method for parallel manipulators using a measurement system specially installed on an external fixed frame. The external fixed frame is important as an error reference for calibration in certain operations, such as in the configuration of a parallel manip- ulator functioning as a machine tool where the workpiece is fixed to a worktable. The pose of the end-effector is mea- sured using three digital indicators installed on the external fixed frame. To enable measurement, the end-effector is assumed to be a plane large enough that all digital indicators could touch. The error is defined as the difference between the theoretical and actual readings of the digital indicators. The geometric parameters of the parallel manipulator are optimized to minimize this error. This calibration method is low cost and feasible for compensating geometric parameter errors for a parallel manipulator. Optimal pose selection for the calibration is achieved using a swarm intelligence search algorithm. The method is implemented on a prototype of a six degrees-of-freedom （DOFs） Gough-Stewart platform constructed to function as a machine tool.
文摘A laser-scanning calibre measuring and digital indicating grating photosensor gauging systems are introduced,which are used to measure the dimensions of bullet.In the paper,we expound the operation principle and design idea of the principal parts and units.
