The paper presents a preliminary study needed to carry out a kinematic calibration procedure for a mini pointing device. The latter inherits its kinematics from a conventional five-bar linkage. A sensitivity analysis of all the geometric parameters involved in the kinematic model of the device is performed within the device workspace. A model is proposed by assuming a non overconstrained kinematics for the machine. Such assumption allows to consider a coupled rotational and translational motion of its moving platform, that is usually designed to have a fixed center of rotation. Results show how the model can be simplified without a significant reduction of its position accuracy, at least in a significant region of the manipulator workspace.
Sensitivity analysis of a mini pointing device / Palpacelli, MATTEO CLAUDIO; Palmieri, Giacomo; Carbonari, Luca; Corinaldi, David. - CD-ROM. - (2016), pp. 1-6. (Intervento presentato al convegno 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2016 tenutosi a The University of Auckland; Auckland; New Zealand nel August 29-31 2016) [10.1109/MESA.2016.7587173].
Sensitivity analysis of a mini pointing device
PALPACELLI, MATTEO CLAUDIO;PALMIERI, GIACOMO;CARBONARI, LUCA;CORINALDI, DAVID
2016-01-01
Abstract
The paper presents a preliminary study needed to carry out a kinematic calibration procedure for a mini pointing device. The latter inherits its kinematics from a conventional five-bar linkage. A sensitivity analysis of all the geometric parameters involved in the kinematic model of the device is performed within the device workspace. A model is proposed by assuming a non overconstrained kinematics for the machine. Such assumption allows to consider a coupled rotational and translational motion of its moving platform, that is usually designed to have a fixed center of rotation. Results show how the model can be simplified without a significant reduction of its position accuracy, at least in a significant region of the manipulator workspace.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
