The objective of this work is the calibration analysis of a 2-DOF orientation manipulator, conceived for micro-orientation tasks inside a microassembly workcell. The proposed device is an overconstrained spherical five-bar mechanism, already widely studied in the scientific literature and known for being a simple but robust solution for the realization of robot wrists; its 5R parallel kinematics architecture allows a wide orientation workspace and good accuracy performances. The present paper sets the theoretical bases for the “geometrical calibration” of the PKM (Parallel Kinematics Machine) and discusses the first simulation results: the meaning of “geometrical calibration” is intended as the identification of the construction and assembly errors that affect the manipulator static accuracy.
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ASME 2016 International Mechanical Engineering Congress and Exposition
November 11–17, 2016
Phoenix, Arizona, USA
Conference Sponsors:
- ASME
ISBN:
978-0-7918-5054-1
PROCEEDINGS PAPER
Kinematic Calibration of a 2-DOF Parallel Orientation Manipulator: Theory and Simulation Results Available to Purchase
Andrea Gabrielli,
Andrea Gabrielli
Università degli Studi di Brescia, Brescia, Italy
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Alberto Borboni,
Alberto Borboni
Università degli Studi di Brescia, Brescia, Italy
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Luca Carbonari,
Luca Carbonari
Università Politecnica delle Marche, Ancona, Italy
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Matteo-Claudio Palpacelli
Matteo-Claudio Palpacelli
Università Politecnica delle Marche, Ancona, Italy
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Andrea Gabrielli
Università degli Studi di Brescia, Brescia, Italy
Alberto Borboni
Università degli Studi di Brescia, Brescia, Italy
Luca Carbonari
Università Politecnica delle Marche, Ancona, Italy
Matteo-Claudio Palpacelli
Università Politecnica delle Marche, Ancona, Italy
Paper No:
IMECE2016-65614, V04AT05A011; 10 pages
Published Online:
February 8, 2017
Citation
Gabrielli, A, Borboni, A, Carbonari, L, & Palpacelli, M. "Kinematic Calibration of a 2-DOF Parallel Orientation Manipulator: Theory and Simulation Results." Proceedings of the ASME 2016 International Mechanical Engineering Congress and Exposition. Volume 4A: Dynamics, Vibration, and Control. Phoenix, Arizona, USA. November 11–17, 2016. V04AT05A011. ASME. https://doi.org/10.1115/IMECE2016-65614
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