56 research outputs found
Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions
The paper proposes a new calibration method for parallel manipulators that
allows efficient identification of the joint offsets using observations of the
manipulator leg parallelism with respect to the base surface. The method
employs a simple and low-cost measuring system, which evaluates deviation of
the leg location during motions that are assumed to preserve the leg
parallelism for the nominal values of the manipulator parameters. Using the
measured deviations, the developed algorithm estimates the joint offsets that
are treated as the most essential parameters to be identified. The validity of
the proposed calibration method and efficiency of the developed numerical
algorithms are confirmed by experimental results. The sensitivity of the
measurement methods and the calibration accuracy are also studied
Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide
International audienceThe paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between the specific test postures and employs a low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They are sequentially used for measuring the deviation of the relevant leg location while the manipulator moves the TCP along the Cartesian axes. Using the measured differences, the developed algorithm estimates the joint offsets and the leg lengths that are treated as the most essential parameters. Validity of the proposed calibration technique is confirmed by the experimental results
Kinematic calibration of orthoglide-type mechanisms
The paper proposes a novel calibration approach for the Orthoglide-type
mechanisms based on observations of the manipulator leg parallelism during
mo-tions between the prespecified test postures. It employs a low-cost
measuring system composed of standard comparator indicators attached to the
universal magnetic stands. They are sequentially used for measuring the
deviation of the relevant leg location while the manipulator moves the TCP
along the Cartesian axes. Using the measured differences, the developed
algorithm estimates the joint offsets that are treated as the most essential
parameters to be adjusted. The sensitivity of the meas-urement methods and the
calibration accuracy are also studied. Experimental re-sults are presented that
demonstrate validity of the proposed calibration techniqu
Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations
The paper proposes a novel approach for the geometrical model calibration of
quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is
based on the observations of the manipulator leg parallelism during motions
between the specific test postures and employs a low-cost measuring system
composed of standard comparator indicators attached to the universal magnetic
stands. They are sequentially used for measuring the deviation of the relevant
leg location while the manipulator moves the TCP along the Cartesian axes.
Using the measured differences, the developed algorithm estimates the joint
offsets and the leg lengths that are treated as the most essential parameters.
Validity of the proposed calibration technique is confirmed by the experimental
results.Comment: ISBN: 978-3-902613-20-
Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains
The paper is devoted to the compliance errors compensation for parallel
manipulators under external loading. Proposed approach is based on the
non-linear stiffness modeling and reduces to a proper adjusting of a target
trajectory. In contrast to previous works, in addition to compliance errors
caused by machining forces, the problem of assembling errors caused by
inaccuracy in the kinematic chains is considered. The advantages and practical
significance of the proposed approach are illustrated by examples that deal
with groove milling with Orthoglide manipulator.Comment: Advances in Robot Kinematics, France (2012
Modèles élastiques et élasto‐dynamiques de robots porteurs
The report presents an advanced stiffness modeling technique for parallel manipulators composed of perfect and non-perfect serial chains. The developed technique contributes both to the stiffness modeling of serial and parallel manipulators under internal and external loadings. Particular attention has been done to enhancement of VJM-based stiffness modeling technique for the case of auxiliary loading (applied to the intermediate points). The obtained results allows us to take into account gravity forces induced by the link weights which are assumed to be applied in the intermediate points. In contrast to other works, the developed technique is able to take into account deviation of the end-platform location because of inaccuracy in the geometry of serial chains, which does not allow to assemble manipulator without internal stresses. The developed aggregation procedure combines the chain stiffness models and produces the relevant force-deflection relation, the aggregated Cartesian stiffness matrix and the reference point displacements caused by inaccuracy in kinematic chains. The developed technique can be applied to both over-constrained and under-constrained manipulators, and is suitable for the cases of both small and large deflections.ANR COROUSS
Outils pour l’identification des paramètres de raideur des robots à l’aide d’un logiciel de CAO
This report proposes a CAD-based approach for identification of the elasto-static parameters of the robotic manipulators. The main contributions are in the areas of virtual experiment planning and algorithmic data processing, which allows to obtain the stiffness matrix with required accuracy. In contrast to previous works, the developed technique operates with the deflection field produced by virtual experiments in a CAD environment. The proposed approach provides high identification accuracy (about 0.1% for the stiffness matrix element) and is able to take into account the real shape of the link, coupling between rotational/translational deflections and joint particularities. To compute the stiffness matrix, the numerical technique has been developed, and some recommendations for optimal settings of the virtual experiments are given. In order to minimize the identification errors, the statistical data processing technique was applied. The advantages of the developed approach have been confirmed by case studies dealing with the links of parallel manipulator of the Orthoglide family, for which the identification errors have been reduced to 0.1%ANR COROUSS
CAD-based approach for identification of elasto-static parameters of robotic manipulators
The paper presents an approach for the identification of elasto-static
parameters of a robotic manipulator using the virtual experiments in a CAD
environment. It is based on the numerical processing of the data extracted from
the finite element analysis results, which are obtained for isolated
manipulator links. This approach allows to obtain the desired stiffness
matrices taking into account the complex shape of the links, couplings between
rotational/translational deflections and particularities of the joints
connecting adjacent links. These matrices are integral parts of the manipulator
lumped stiffness model that are widely used in robotics due to its high
computational efficiency. To improve the identification accuracy,
recommendations for optimal settings of the virtual experiments are given, as
well as relevant statistical processing techniques are proposed. Efficiency of
the developed approach is confirmed by a simulation study that shows that the
accuracy in evaluating the stiffness matrix elements is about 0.1%.Comment: arXiv admin note: substantial text overlap with arXiv:0909.146
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