期刊
MECHANISM AND MACHINE THEORY
卷 152, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2020.103920
关键词
Calibration; Parallel manipulators; Gough-Stewart; Hexapod; Robotics; Kinematics
资金
- UK EPSRC [EP/R026084/1, EP/P027121/1]
- Erasmus+ programme of the European Union
- EPSRC [EP/R026084/1, EP/P027121/1] Funding Source: UKRI
This paper introduces a calibration procedure for the identification of the geometrical parameters of a reconfigurable Gough-Stewart parallel manipulator. By using the proposed method, the geometry of a general Gough-Stewart platform can be evaluated through the measurement of the distance between couples of points on the base and mobile platform, repeated for a given set of different poses of the manipulator. The mathematical modelling of the problem is described and a numeric algorithm for an efficient solution to the problem is proposed. Furthermore, an application of the proposed method is discussed with a numerical example, and the behaviour of the calibration procedure is analysed as a function of the number of acquisitions and the number of poses. Crown Copyright (C) 2020 Published by Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据