A calibration procedure for reconfigurable Gough-Stewart manipulators. (October 2020)

• Record Type: Journal Article
• Authors: Russo, Matteo; Dong, Xin
• Is Part Of: Mechanism and machine theory. Volume 152(2020)
• Publication Date: 2020-10
• Subjects: Calibration -- Parallel manipulators -- Gough-Stewart -- Hexapod -- Robotics -- Kinematics; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2020.103920
• Languages: English
• ISSNs: 0094-114X

Abstract

Highlights: A calibration procedure for a reconfigurable Gough-Stewart parallel manipulator is proposed. Geometrical identification is achieved through distance measurements. A general mathematical model for calibration is introduced. The calibration procedure is validated on a reconfigurable robot. Abstract: 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 .