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| Sensitivity analysis and kinematic calibration of 3-UCR symmetrical parallel robot leg
Gang Cheng*, Shi-Rong Ge and Jing-Li Yu
The Journal of Mechanical Science and Technology, vol. 25, no. 7, pp.1647-1655, 2011
Abstract : Based on the complete differential-coefficient theory, the model of the pose errors expressed by the Rodrigues Parameters was established.
By normalizing all error sources, the statistical model of sensitivity coefficients was obtained. Considering the sensitivity percentages,
a kinematic calibration model with the successive approximation algorithm was achieved. The simulation shows that the algorithm
is effective to study the calibration question and has concrete directivity, reducing the kinematic errors with high sensitivity percentage
when optimizing iteratively.
Keyword : 3-UCR parallel robot leg; Complete differential-coefficient theory; Sensitivity model; Kinematic calibration |
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