The objective of this work is the calibration analysis of a 2- DOF orientation manipulator, conceived for micro-orientation tasks inside a microassembly workcell. The proposed device is an overconstrained spherical five-bar mechanism, already widely studied in the scientific literature and known for being a simple but robust solution for the realization of robot wrists; its 5R parallel kinematics architecture allows a wide orientation workspace and good accuracy performances. The present paper sets the theoretical bases for the "geometrical calibration" of the PKM (Parallel Kinematics Machine) and discusses the first simulation results: the meaning of "geometrical calibration" is intended as the identification of the construction and assembly errors that affect the manipulator static accuracy.
Kinematic calibration of a 2-DOF parallel orientation manipulator: Theory and simulation results / Gabrielli, Andrea; Borboni, Alberto; Carbonari, Luca; Palpacelli, Matteo-Claudio. - ELETTRONICO. - 4:(2016), pp. 1-10. (Intervento presentato al convegno ASME 2016 International Mechanical Engineering Congress and Exposition, IMECE 2016 tenutosi a usa nel 2016) [10.1115/IMECE201665614].
Kinematic calibration of a 2-DOF parallel orientation manipulator: Theory and simulation results
Gabrielli, Andrea;Carbonari, Luca;Palpacelli, Matteo-Claudio
2016-01-01
Abstract
The objective of this work is the calibration analysis of a 2- DOF orientation manipulator, conceived for micro-orientation tasks inside a microassembly workcell. The proposed device is an overconstrained spherical five-bar mechanism, already widely studied in the scientific literature and known for being a simple but robust solution for the realization of robot wrists; its 5R parallel kinematics architecture allows a wide orientation workspace and good accuracy performances. The present paper sets the theoretical bases for the "geometrical calibration" of the PKM (Parallel Kinematics Machine) and discusses the first simulation results: the meaning of "geometrical calibration" is intended as the identification of the construction and assembly errors that affect the manipulator static accuracy.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
