Calibration of a 6 -PRRS parallel manipulator using D-H method combined with vector chain

Yonggang Yang; Yubin Liu; Jun Pi; Yongsheng Shi; Wei Li

doi:10.1109/ICMA.2009.5244878

Calibration of a 6 -PRRS parallel manipulator using D-H method combined with vector chain

Yonggang Yang^*
, Yubin Liu
, Jun Pi
, Yongsheng Shi
, Wei Li

^*Corresponding author for this work

School of Mechatronics Engineering

Civil Aviation University of China

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

Calibration of a 6-PRRS parallel manipulator is studied, a compensation method based on kinematic model is proposed. This method using D-H modeling method sets up 6-PRRS parallel manipulator kinematic model, then identifies and compensates the error in model using vector chain. This method can compensate manufacturing error and some assembling error. The results of experiments show the error can reduce to less than 15 percent of the original by this method.

Original language	English
Title of host publication	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Pages	3944-3948
Number of pages	5
DOIs	https://doi.org/10.1109/ICMA.2009.5244878
State	Published - 2009
Event	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 - Changchun, China Duration: 9 Aug 2009 → 12 Aug 2009

Publication series

Name	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

Conference

Conference	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Country/Territory	China
City	Changchun
Period	9/08/09 → 12/08/09

Keywords

Calibration
Error compensation
Parallel manipulator
Vector chain

Access to Document

10.1109/ICMA.2009.5244878

Cite this

Yang, Y., Liu, Y., Pi, J., Shi, Y., & Li, W. (2009). Calibration of a 6 -PRRS parallel manipulator using D-H method combined with vector chain. In 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 (pp. 3944-3948). Article 5244878 (2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009). https://doi.org/10.1109/ICMA.2009.5244878

@inproceedings{05c95206e6fb42c4bdec2fb9cfaad90a,

title = "Calibration of a 6 -PRRS parallel manipulator using D-H method combined with vector chain",

abstract = "Calibration of a 6-PRRS parallel manipulator is studied, a compensation method based on kinematic model is proposed. This method using D-H modeling method sets up 6-PRRS parallel manipulator kinematic model, then identifies and compensates the error in model using vector chain. This method can compensate manufacturing error and some assembling error. The results of experiments show the error can reduce to less than 15 percent of the original by this method.",

keywords = "Calibration, Error compensation, Parallel manipulator, Vector chain",

author = "Yonggang Yang and Yubin Liu and Jun Pi and Yongsheng Shi and Wei Li",

year = "2009",

doi = "10.1109/ICMA.2009.5244878",

language = "英语",

isbn = "9781424426935",

series = "2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009",

pages = "3944--3948",

booktitle = "2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009",

note = "2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 ; Conference date: 09-08-2009 Through 12-08-2009",

}

Yang, Y, Liu, Y, Pi, J, Shi, Y & Li, W 2009, Calibration of a 6 -PRRS parallel manipulator using D-H method combined with vector chain. in 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009., 5244878, 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, pp. 3944-3948, 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, Changchun, China, 9/08/09. https://doi.org/10.1109/ICMA.2009.5244878

Calibration of a 6 -PRRS parallel manipulator using D-H method combined with vector chain. / Yang, Yonggang; Liu, Yubin; Pi, Jun et al.
2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009. 2009. p. 3944-3948 5244878 (2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Calibration of a 6 -PRRS parallel manipulator using D-H method combined with vector chain

AU - Yang, Yonggang

AU - Liu, Yubin

AU - Pi, Jun

AU - Shi, Yongsheng

AU - Li, Wei

PY - 2009

Y1 - 2009

N2 - Calibration of a 6-PRRS parallel manipulator is studied, a compensation method based on kinematic model is proposed. This method using D-H modeling method sets up 6-PRRS parallel manipulator kinematic model, then identifies and compensates the error in model using vector chain. This method can compensate manufacturing error and some assembling error. The results of experiments show the error can reduce to less than 15 percent of the original by this method.

AB - Calibration of a 6-PRRS parallel manipulator is studied, a compensation method based on kinematic model is proposed. This method using D-H modeling method sets up 6-PRRS parallel manipulator kinematic model, then identifies and compensates the error in model using vector chain. This method can compensate manufacturing error and some assembling error. The results of experiments show the error can reduce to less than 15 percent of the original by this method.

KW - Calibration

KW - Error compensation

KW - Parallel manipulator

KW - Vector chain

UR - https://www.scopus.com/pages/publications/77449146133

U2 - 10.1109/ICMA.2009.5244878

DO - 10.1109/ICMA.2009.5244878

M3 - 会议稿件

AN - SCOPUS:77449146133

SN - 9781424426935

T3 - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

SP - 3944

EP - 3948

BT - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

T2 - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

Y2 - 9 August 2009 through 12 August 2009

ER -

Calibration of a 6 -PRRS parallel manipulator using D-H method combined with vector chain

Abstract

Publication series

Conference

Keywords

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