A Kinematic Error Model for a Parallel Gantry-Tau Manipulator

Autor:	Isolde Dressler, Torgny Brogardh, Anders Robertsson
Jazyk:	angličtina
Rok vydání:	2010
Předmět:	Engineering Robot kinematics Robot calibration business.industry Parallel manipulator Workspace Kinematics Control Engineering Computer Science::Robotics Control theory Calibration Robot business Actuator Simulation
Zdroj:	ICRA
Popis:	Parallel robots are generally said to be more accurate but to have a smaller workspace compared to serial robots. With the Gantry-Tau robot, a parallel robot with a large, reconfigurable workspace was presented. This article tries to identify the maximum achievable end-effector positioning accuracy of the Gantry-Tau robot. To this end, a couple of new kinematic error models are presented and evaluated. The sources of the remaining positioning errors (0.09 mm) are discussed.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1b2c20fbc9a74ec05f7370079019e508 https://lup.lub.lu.se/record/1627717 Zobrazit plný text záznamu