Optics and Precision Engineering, Volume. 28, Issue 1, 119(2020)

Parameter calibration of five-degree-of-freedom hybrid robot 2RPU/UPR+RP

XU Yun-dou1...2,*, WANG Chao1, ZHAO Chun-lin1, YANG Fan1, YAO Jian-tao1,2, and ZHAO Yong-sheng12 |Show fewer author(s)
Author Affiliations
  • 1[in Chinese]
  • 2[in Chinese]
  • show less
    References(20)

    [1] [1] CAMPOS A, BUDDE C, HESSELBACH J. A type synthesis method for hybrid robot structures[J]. Mechanism and Machine Theory, 2008, 43(8): 984-995.

    [2] [2] HUANG T, LI M, ZHAO X M, et al.. Conceptual design and dimensional synthesis for a 3-DOF module of the TriVariant-a novel 5-DOF reconfigurable hybrid robot [J]. IEEE Transactions on Robotics, 2005, 21(3): 449-456.

    [3] [3] HOSSEINI M A, DANIALI H M. Cartesian workspace optimization of Tricept parallel manipulator with machining application [J]. Robotica, 2015, 33(9): 1948-1957.

    [4] [4] LI L. Compensation of swing angle accuracy of virtual axis NC machining center [J]. Aeronautical Manufacturing Technology, 2014, 452(8): 76-78. (in Chinese)

    [5] [5] BI Z M, JIN Y. Kinematic modeling of Exechon parallel kinematic machine [J]. Robotics and Computer-Integrated Manufacturing, 2011, 27(1): 186-193.

    [6] [6] AMINE S, CARO S, WENGER P. Constraint and singularity analysis of the exechon [J]. Applied Mechanics and Materials, 2012, 162: 141-150.

    [7] [7] LI G X, LIU H T, XU Q SH, et al.. Parameter curve interpolation method for hybrid robots for milling [J]. Aeronautical Manufacturing Technology, 2018, 61(16): 43-50. (in Chinese).

    [8] [8] LI Y X. Research on Kinematic Calibration of 2-UPR-RPU Parallel Mechanism[D]. Hangzhou: Zhejiang Sci-Tech University, 2016: 9-10. (in Chinese).

    [9] [9] XU Y D, HU J H, ZHANG D SH, et al.. A five-degree-of-freedom hybrid robot mechanism with continuous rotation axes [J]. Journal of Mechanical Engineering, 2018, 54(21): 19-24. (in Chinese).

    [10] [10] XU Y D, ZHANG D S, YAO J T, et al.. Type synthesis of the 2R1T parallel mechanism with two continuous rotational axes and study on the principle of its motion decoupling [J]. Mechanism and Machine Theory, 2017, 108: 27-40.

    [11] [11] NEAGOE M, GOGU G, DIACONESCU D. High Degree Accuracy Modelling and Calibration of Serial Robots with Large Errors[M]. Product Engineering. Dordrecht: Kluwer Academic Publishers, 2004: 397-408.

    [12] [12] GATTRINGER H, NEUBAUER M, KASERER D, et al.. A novel method for geometric robot calibration using laser pointer and cameras [C]. International Conference on Robotics in Alpe-Adria Danube Region. Springer, Cham, 2017, 49: 200-207.

    [13] [13] KHALIL W, CAENEN J L, ENGUEHARD C. Identification and Calibration of the Geometric Parameters of Robots [M]. Experimental Robotics I. Berlin/Heidelberg: Springer-Verlag, 1990, 13: 528-538.

    [14] [14] NUBIOLA A, BONEV I A. Absolute robot calibration with a single telescoping ballbar [J]. Precision Engineering, 2014, 38(3): 472-480.

    [15] [15] DAI ZH W, LIU CH, SHENG X J, et al.. Research on parameter error analysis and calibration method of Delta parallel robot mechanism [J]. China Mechanical & Electrical Integration, 2016, 22(3): 8-12. (in Chinese).

    [16] [16] PAN B ZH, SONG Y M, WANG P F, et al.. Fast zero calibration method for hybrid robot based on laser tracker [J]. Journal of Mechanical Engineering, 2014, 50(1): 31-37. (in Chinese).

    [17] [17] LI Q CH, CHAI X X, CHEN Q H. Review on 2R1T 3-DOF parallel mechanisms[J]. Chinese Science Bulletin, 2017, 62(14): 1507-1519. (in Chinese)

    [18] [18] ZHANG D SH, XU Y D, YAO J T, et al.. Degree of freedom and position analysis of 2-RPU/UPR parallel mechanism[J]. Mechanical Design & Manufacture, 2014(12): 53-56. (in Chinese).

    [19] [19] DONGSHENG ZHANG, YUNDOU XU, JIANTAO YAO, et al.. Kinematics modeling of a 5-dof hybrid manipulator by means of equivalent model method [J]. International Journal of Robotics and Automation, 2018, 33(4): 407-417.

    [20] [20] WU J J, CHEN W Q, XIN T F. Research on the method of measuring the positioning accuracy of CNC machine tools by laser interferometer [J]. Industrial Control Computer, 2017, 30(11): 159-160. (in Chinese).

    CLP Journals

    [1] DU Xiao-qiang, YU Fu-jie, CHEN Yuan. Research on propulsive performance of vector propulsion mechanism with UPR-UPU-UR configuration[J]. Optics and Precision Engineering, 2020, 28(10): 2276

    [2] DU Xiao-qiang, YU Fu-jie, CHEN Yuan. Research on propulsive performance of vector propulsion mechanism with UPR-UPU-UR configuration[J]. Optics and Precision Engineering, 2020, 28(10): 2276

    [3] Hongxi WANG, Zhengyang SUN, Bing LIU, Guanwei WANG. Docking measurement field construction and pose solving for aircraft large components based on draw-wire displacement sensors[J]. Optics and Precision Engineering, 2024, 32(21): 3184

    Tools

    Get Citation

    Copy Citation Text

    XU Yun-dou, WANG Chao, ZHAO Chun-lin, YANG Fan, YAO Jian-tao, ZHAO Yong-sheng. Parameter calibration of five-degree-of-freedom hybrid robot 2RPU/UPR+RP[J]. Optics and Precision Engineering, 2020, 28(1): 119

    Download Citation

    EndNote(RIS)BibTexPlain Text
    Save article for my favorites
    Paper Information

    Category:

    Received: May. 21, 2019

    Accepted: --

    Published Online: Mar. 25, 2020

    The Author Email: Yun-dou XU (ydxu@ysu.edu.cn)

    DOI:10.3788/ope.20202801.0119

    Topics