Study on Calibration of 3-PR(4R)R Three-Degree-of-Freedom Parallel Mechanism
A kinematic calibration approach is proposed for a triple-planar 3-PR(4R)R parallel mechanism whose attitude error cannot be corrected by motion. First, the kinematic principle of the 3-PR(4R)R parallel mechanism is presented. Then, an error mapping function model is designed based on the mechanism&...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9755134/ |
| _version_ | 1828286904571789312 |
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| author | Haibing Feng Jiaqing Yan Zhenlin Jin Ziming Chen |
| author_facet | Haibing Feng Jiaqing Yan Zhenlin Jin Ziming Chen |
| author_sort | Haibing Feng |
| collection | DOAJ |
| description | A kinematic calibration approach is proposed for a triple-planar 3-PR(4R)R parallel mechanism whose attitude error cannot be corrected by motion. First, the kinematic principle of the 3-PR(4R)R parallel mechanism is presented. Then, an error mapping function model is designed based on the mechanism’s closed-loop vector equations. The model reveals the presence of coupling errors in the mechanism, i.e., the coupling of attitude and position errors, and is used to analyze error sensitivity as an indicator of component machining and assembly accuracy. A kinematic inverse solution is used to build a zero-point calibration and a full calibration method. Calibration is performed by a laser tracker-based calibration system, which generates much lower error values and delivers much improved accuracy. Experiments demonstrate that the proposed approach can potentially be used to calibrate parallel mechanisms with non-compensable error terms. |
| first_indexed | 2024-04-13T09:39:51Z |
| format | Article |
| id | doaj.art-807ee28cf65b4724ac2c0e4d6edbfcba |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-13T09:39:51Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-807ee28cf65b4724ac2c0e4d6edbfcba2022-12-22T02:51:56ZengIEEEIEEE Access2169-35362022-01-0110393973940610.1109/ACCESS.2022.31666299755134Study on Calibration of 3-PR(4R)R Three-Degree-of-Freedom Parallel MechanismHaibing Feng0https://orcid.org/0000-0003-0615-0758Jiaqing Yan1https://orcid.org/0000-0002-0761-318XZhenlin Jin2Ziming Chen3https://orcid.org/0000-0002-5463-4055Hebei Province Heavy Intelligent Manufacturing Equipment Technology Innovation Center, Yanshan University, Hebei, Qinhuangdao, ChinaHebei Province Heavy Intelligent Manufacturing Equipment Technology Innovation Center, Yanshan University, Hebei, Qinhuangdao, ChinaHebei Province Heavy Intelligent Manufacturing Equipment Technology Innovation Center, Yanshan University, Hebei, Qinhuangdao, ChinaHebei Province Heavy Intelligent Manufacturing Equipment Technology Innovation Center, Yanshan University, Hebei, Qinhuangdao, ChinaA kinematic calibration approach is proposed for a triple-planar 3-PR(4R)R parallel mechanism whose attitude error cannot be corrected by motion. First, the kinematic principle of the 3-PR(4R)R parallel mechanism is presented. Then, an error mapping function model is designed based on the mechanism’s closed-loop vector equations. The model reveals the presence of coupling errors in the mechanism, i.e., the coupling of attitude and position errors, and is used to analyze error sensitivity as an indicator of component machining and assembly accuracy. A kinematic inverse solution is used to build a zero-point calibration and a full calibration method. Calibration is performed by a laser tracker-based calibration system, which generates much lower error values and delivers much improved accuracy. Experiments demonstrate that the proposed approach can potentially be used to calibrate parallel mechanisms with non-compensable error terms.https://ieeexplore.ieee.org/document/9755134/Parallel mechanismerror mappingcoupling errorcalibration |
| spellingShingle | Haibing Feng Jiaqing Yan Zhenlin Jin Ziming Chen Study on Calibration of 3-PR(4R)R Three-Degree-of-Freedom Parallel Mechanism IEEE Access Parallel mechanism error mapping coupling error calibration |
| title | Study on Calibration of 3-PR(4R)R Three-Degree-of-Freedom Parallel Mechanism |
| title_full | Study on Calibration of 3-PR(4R)R Three-Degree-of-Freedom Parallel Mechanism |
| title_fullStr | Study on Calibration of 3-PR(4R)R Three-Degree-of-Freedom Parallel Mechanism |
| title_full_unstemmed | Study on Calibration of 3-PR(4R)R Three-Degree-of-Freedom Parallel Mechanism |
| title_short | Study on Calibration of 3-PR(4R)R Three-Degree-of-Freedom Parallel Mechanism |
| title_sort | study on calibration of 3 pr 4r r three degree of freedom parallel mechanism |
| topic | Parallel mechanism error mapping coupling error calibration |
| url | https://ieeexplore.ieee.org/document/9755134/ |
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