Characterization of a Cable-Based Parallel Mechanism for Measurement Purposes#

被引：23

作者：

Hernandez-Martinez, Eusebio E. ^{[1
,2
]}

Ceccarelli, Marco ^{[1
]}

Carbone, Giuseppe ^{[1
]}

Lopez-Cajun, Carlos S. ^{[2
]}

Jauregui-Correa, Juan C. ^{[3
]}

机构：

[1] Univ Cassino, LARM Lab Robot & Mechatron DiMSAT, I-03043 Cassino, FR, Italy

[2] Univ Autonoma Queretaro, Fac Ingn, Queretaro, Qro, Mexico

[3] CIATEQ Ctr Tecnol Avanzada, Queretaro, Qro, Mexico

来源：

MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES | 2010年 / 38卷 / 01期

关键词：

ADAMS simulation; Error modeling; Measuring systems; Parallel architectures; Robotics; KINEMATIC CALIBRATION; SELF-CALIBRATION;

D O I：

10.1080/15397730903386101

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

This article describes the main characteristics of a cable-based parallel manipulator called Milli-Cassino Tracking System (Milli-CaTraSys), which was developed at LARM in Cassino. Operation models and formulations are proposed both for kinematics and statics. In particular, a procedure is proposed for error estimation to know error effects on the end-effector pose. Numerical simulations have been carried out to characterize both the procedure results and system behavior. Results of experimental tests and simulations are also compared to show the feasibility and practical efficiency of a Milli-CaTraSys prototype.

引用

页码：25 / 49

页数：25

共 20 条

[1]

American National Standards Institute (ANSI), 1990, 150511990 ANSIRIA

[2]

CARBONE G, 2004, 15 CISM IFTOMM S ROB

[3] Experimental tests on feasible operation of a finger mechanism in the LARM hand [J].

Carbone, Giuseppe ;

Ceccarelli, Marco .

MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES, 2008, 36 (01) :1-13

[4]

CECCARELLI M, 2000, IEEE INT C IND EL CO

[5]

Ceccarelli M., 2004, FUNDAMENTALS MECH RO, V1st

[6] A practical calibration process using partial information for a commercial Stewart platform [J].

Chai, KS ;

Young, K ;

Tuersley, I .

ROBOTICA, 2002, 20 :315-322

[7] Self-calibration of a general hexapod manipulator with enhanced precision in 5-DOF motions [J].

Chiu, YJ ;

Perng, MH .

MECHANISM AND MACHINE THEORY, 2004, 39 (01) :1-23

[8]

HERNANDEZMARTIN.E, 2008, 2 EUR C MECH SCI EUC, P191

[9] A cable extension transducer based two-dimensional position sensor for industrial applications [J].

Hong, D ;

Mueller, KJ ;

Velinsky, SA .

JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME, 2002, 124 (01) :105-108

[10] Self calibration of Stewart-Gough parallel robots without extra sensors [J].

Khalil, W ;

Besnard, S .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1999, 15 (06) :1116-1121

← 1 2 →