Title :
Calibration of a 6-PRRS parallel manipulator using D-H method combined with vector chain
Author :
Yang, Yonggang ; Liu, Yubin ; Pi, Jun ; Shi, Yongsheng ; Li, Wei
Author_Institution :
Aeronaut. Mech. Coll., Civil Aviation Univ. of China, Tianjin, China
Abstract :
Calibration of a 6-PRRS parallel manipulator is studied, a compensation method based on kinematic model is proposed. This method using D-H modeling method sets up 6-PRRS parallel manipulator kinematic model, then identifies and compensates the error in model using vector chain. This method can compensate manufacturing error and some assembling error. The results of experiments show the error can reduce to less than IS percent of the original by this method.
Keywords :
calibration; error compensation; manipulator kinematics; 6 PRRS parallel manipulator calibration; D-H modeling method; assembling error compensation; kinematic model; manufacturing error compensation; vector chain; Assembly; Calibration; Educational institutions; Error compensation; Jacobian matrices; Kinematics; Machining; Manipulators; Robotics and automation; Solid modeling; Parallel manipulator; calibration; error compensation; vector chain;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5244878
