An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms
This paper presents an overview of the literature on kinematic and calibration models of parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel mechanisms used as sensors. The most relevant classifications to obtain and solve kinematic models and to identify geometric a...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2010-11-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/10/11/10256/ |
| _version_ | 1811305572206641152 |
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| author | Juan J. Aguilar David Samper Jorge Santolaria Ana C. Majarena |
| author_facet | Juan J. Aguilar David Samper Jorge Santolaria Ana C. Majarena |
| author_sort | Juan J. Aguilar |
| collection | DOAJ |
| description | This paper presents an overview of the literature on kinematic and calibration models of parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel mechanisms used as sensors. The most relevant classifications to obtain and solve kinematic models and to identify geometric and non-geometric parameters in the calibration of parallel robots are discussed, examining the advantages and disadvantages of each method, presenting new trends and identifying unsolved problems. This overview tries to answer and show the solutions developed by the most up-to-date research to some of the most frequent questions that appear in the modelling of a parallel mechanism, such as how to measure, the number of sensors and necessary configurations, the type and influence of errors or the number of necessary parameters. |
| first_indexed | 2024-04-13T08:28:52Z |
| format | Article |
| id | doaj.art-5b957d3d57234254a54e7017ee0590f4 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T08:28:52Z |
| publishDate | 2010-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-5b957d3d57234254a54e7017ee0590f42022-12-22T02:54:20ZengMDPI AGSensors1424-82202010-11-011011102561029710.3390/s101110256An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel MechanismsJuan J. AguilarDavid SamperJorge SantolariaAna C. MajarenaThis paper presents an overview of the literature on kinematic and calibration models of parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel mechanisms used as sensors. The most relevant classifications to obtain and solve kinematic models and to identify geometric and non-geometric parameters in the calibration of parallel robots are discussed, examining the advantages and disadvantages of each method, presenting new trends and identifying unsolved problems. This overview tries to answer and show the solutions developed by the most up-to-date research to some of the most frequent questions that appear in the modelling of a parallel mechanism, such as how to measure, the number of sensors and necessary configurations, the type and influence of errors or the number of necessary parameters.http://www.mdpi.com/1424-8220/10/11/10256/parallel mechanismkinematicinternal sensor calibrationexternal sensor calibrationconstraint calibration |
| spellingShingle | Juan J. Aguilar David Samper Jorge Santolaria Ana C. Majarena An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms Sensors parallel mechanism kinematic internal sensor calibration external sensor calibration constraint calibration |
| title | An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms |
| title_full | An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms |
| title_fullStr | An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms |
| title_full_unstemmed | An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms |
| title_short | An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms |
| title_sort | overview of kinematic and calibration models using internal external sensors or constraints to improve the behavior of spatial parallel mechanisms |
| topic | parallel mechanism kinematic internal sensor calibration external sensor calibration constraint calibration |
| url | http://www.mdpi.com/1424-8220/10/11/10256/ |
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