3239 パラレルメカニズムを用いた高速・高精度3次元座標計測システム(第22報) : 冗長受動ジョイントを用いたキャリブレーション(S39-1 パラレルメカニズムとその応用(1),21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

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This study proposes a kinematic calibration method for a three-degree-of-freedom (3-DOF) parallel manipulator with a redundant kinematic chain having a passive joint. The joint displacement measured by four scale units, and joint displacements calculated by the direct and inverse kinematics derive three joint displacement errors when the moving platform moves in workspace of the manipulator. The least square method using Jacobian matrix corrects 31 kinematic parameters so that the displacement errors are minimized. The above calculations have been repeated in numerical simulations. Obtained parameters decreased positioning errors of the end-effector.
2008-08-02