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Calibration of 3-DOF Translational Parallel Manipulators Using Leg Observations InTech
Anatol Pashkevich; Damien Chablat; Philippe Wenger; Roman Gomolitsky.
Recent advances in parallel robot architectures encourage related research on kinematic calibration of parallel mechanisms. This paper proposes a novel calibration approach based on observations of manipulator leg parallelism with respect to the Cartesian planes. Presented for the Orthoglide-type mechanisms, this approach may be also applied to other manipulator architectures that admit parallel leg motions (along the Cartesian axes) or, in more general case, allow locating the leg in several postures with a common intersection point. The proposed calibration technique employs a simple and low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They are sequentially used for measuring the deviation of...
Tipo: 11 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/calibration_of_3-dof_translational_parallel_manipulators_using_leg_observations
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