A calibration procedure for reconfigurable Gough-Stewart manipulators

Russo, Matteo; Dong, Xin

Abstract

© 2020 This paper introduces a calibration procedure for the identification of the geometrical parameters of a reconfigurable Gough-Stewart parallel manipulator. By using the proposed method, the geometry of a general Gough-Stewart platform can be evaluated through the measurement of the distance between couples of points on the base and mobile platform, repeated for a given set of different poses of the manipulator. The mathematical modelling of the problem is described and a numeric algorithm for an efficient solution to the problem is proposed. Furthermore, an application of the proposed method is discussed with a numerical example, and the behaviour of the calibration procedure is analysed as a function of the number of acquisitions and the number of poses.

• Journal Article Type: Article
• Acceptance Date: Apr 13, 2020
• Online Publication Date: May 25, 2020
• Publication Date: 2020-10
• Deposit Date: May 25, 2020
• Publicly Available Date: May 26, 2021
• Journal: Mechanism and Machine Theory
• Print ISSN: 0094-114X
• Publisher: Elsevier
• Peer Reviewed: Peer Reviewed
• Volume: 152
• Article Number: 103920
• DOI: https://doi.org/10.1016/j.mechmachtheory.2020.103920
• Keywords: Calibration, Parallel manipulators, Gough-Stewart, Hexapod, Robotics, Kinematics
• Public URL: https://nottingham-repository.worktribe.com/output/4507980
• Publisher URL: https://www.sciencedirect.com/science/article/abs/pii/S0094114X20301415
• Additional Information: This article is maintained by: Elsevier; Article Title: A calibration procedure for reconfigurable Gough-Stewart manipulators; Journal Title: Mechanism and Machine Theory; CrossRef DOI link to publisher maintained version: https://doi.org/10.1016/j.mechmachtheory.2020.103920; Content Type: article; Copyright: Crown Copyright © 2020 Published by Elsevier Ltd. All rights reserved.