Error Analysis and Calibration of a 4-DOF Parallel Mechanism

LIU Hong-jun, GONG Min, ZHAO Ming-yang. Error Analysis and Calibration of a 4-DOF Parallel Mechanism[J]. ROBOT, 2005, 27(1): 6-9.

Citation:

LIU Hong-jun, GONG Min, ZHAO Ming-yang. Error Analysis and Calibration of a 4-DOF Parallel Mechanism[J]. ROBOT, 2005, 27(1): 6-9.

Citation:

LIU Hong-jun, GONG Min, ZHAO Ming-yang. Error Analysis and Calibration of a 4-DOF Parallel Mechanism[J]. ROBOT, 2005, 27(1): 6-9.

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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