Error Analysis and Calibration of a 4-DOF Parallel Mechanism
LIU Hong-jun1,2,3, GONG Min1, ZHAO Ming-yang3
1. Shenyang Institute of Technology, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100039, China; 3. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Abstract：This paper proposes a novel 4-dof parallel mechanism. The kinematics of this mechanism is presented firstly, and then the kinematics error model is given and analyzed using perturbation method. After a simple review of the kinematics calibration technology of this parallel mechanism, two calibration methods for error model analysis on this mechanism are discussed in detail. Finally, the simulation results are given based on the IK(inverse kinematic) calibration in the Matlab environment.
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