Contribution to calibration of hexapod positioning units in industrial environment

[Display omitted] ► Discrete algorithm for solving direct kinematics for hexapods derived. ► Re-calibration approach for hexapods derived and simulated. ► Achievable positioning precision after calibration estimated. ► Re-calibration approach metrological validated for hexapod prototype. The calibra...

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Veröffentlicht in:Precision engineering 2013-01, Vol.37 (1), p.73-80
Hauptverfasser: von Daake, Andreas, Vetter, Christian, Böhm, Elmar, Zirn, Oliver
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creator von Daake, Andreas
Vetter, Christian
Böhm, Elmar
Zirn, Oliver
description [Display omitted] ► Discrete algorithm for solving direct kinematics for hexapods derived. ► Re-calibration approach for hexapods derived and simulated. ► Achievable positioning precision after calibration estimated. ► Re-calibration approach metrological validated for hexapod prototype. The calibration of parallel mechanisms with hexapod design is very complex due to the kinematic transformation. In this paper a calibration algorithm is developed which allows the re-calibration of hexapod mechanisms with relatively little effort, and the applicability of the calibration in an industrial environment is discussed. All parameters associated with the replacement of a leg and corresponding joints are determined only by performing six tool center point (TCP) measurements in each six degrees of freedom (DOF) after the new leg has been separately measured. The choice of measurement poses is based on the condition of the identification Jacobian matrix, so that increased robustness can be shown compared to the evaluation of a much bigger number of measurement poses using the Householder transformation.
doi_str_mv 10.1016/j.precisioneng.2012.07.002
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subjects Calibration
Degrees of freedom
Direct kinematics
Hexapod
Jacobian matrix
Mathematical analysis
Robustness
TCP (protocol)
Transformations
title Contribution to calibration of hexapod positioning units in industrial environment
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