Journal of South China University of Technology (Natural Science Edition) ›› 2014, Vol. 42 ›› Issue (7): 97-103.doi: 10.3969/j.issn.1000-565X.2014.07.016

• Mechanical Engineering • Previous Articles     Next Articles

A Clearance Approach of Kinematic Calibration and Error Compensation for 3-RRR Parallel Robot

Zhang Xian-min Liu Han   

  1. School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2014-02-21 Revised:2014-04-21 Online:2014-07-25 Published:2014-06-01
  • Contact: 张宪民(1964-)，男，教授，博士生导师，主要从事机构学、精密制造装备与现代化控制技术等研究． E-mail:zhangxm@scut.edu.cn
  • About author:张宪民(1964-)，男，教授，博士生导师，主要从事机构学、精密制造装备与现代化控制技术等研究．
  • Supported by:

    国家自然科学基金资助项目( 91223201) ; 广东省自然科学基金资助项目( S2013030013355) ; 华南理工大学中央高校基本科研业务费专项资金资助项目( 2012ZP0004)

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Abstract:

For 3-RRR parallel robot,both geometrical dimensional error and joint clearance of component play arole in positioning accurately and precisely.In this investigation,based on the kinematic error model consideringthe joint clearance,these two error sources are both identifield through kinematic calibration and the influence ofjoint clearance on re-positioning error is analyzed.Then,the dimensional and residual errors are used to make upfor the inverse kinematic model and the desired position command respectively,thus improving positioning accuracy.Finally,based on the clearance error model,the re-positioning precision is improved when the compensation for theinfluence of joint clearance is done.

Key words: 3-RRR parallel robot, kinematic calibration, joint clearance, positioning accuracy