Kinematic calibration of a 2-DOF parallel orientation manipulator: Theory and simulation results

Andrea Gabrielli; Alberto Borboni; Luca Carbonari; Matteo Claudio Palpacelli

doi:10.1115/IMECE201665614

Kinematic calibration of a 2-DOF parallel orientation manipulator: Theory and simulation results

Andrea Gabrielli, Alberto Borboni, Luca Carbonari, Matteo Claudio Palpacelli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

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.

Original language	English
Title of host publication	Dynamics, Vibration, and Control
Publisher	The American Society of Mechanical Engineers(ASME)
ISBN (Electronic)	9780791850541
DOIs	https://doi.org/10.1115/IMECE201665614
State	Published - 2016
Externally published	Yes
Event	ASME 2016 International Mechanical Engineering Congress and Exposition, IMECE 2016 - Phoenix, United States Duration: 11 Nov 2016 → 17 Nov 2016

Publication series

Name	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume	4A-2016

Conference

Conference	ASME 2016 International Mechanical Engineering Congress and Exposition, IMECE 2016
Country/Territory	United States
City	Phoenix
Period	11/11/16 → 17/11/16

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10.1115/IMECE201665614

Cite this

Gabrielli, A., Borboni, A., Carbonari, L., & Palpacelli, M. C. (2016). Kinematic calibration of a 2-DOF parallel orientation manipulator: Theory and simulation results. In Dynamics, Vibration, and Control (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 4A-2016). The American Society of Mechanical Engineers(ASME). https://doi.org/10.1115/IMECE201665614

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title = "Kinematic calibration of a 2-DOF parallel orientation manipulator: Theory and simulation results",

abstract = "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.",

author = "Andrea Gabrielli and Alberto Borboni and Luca Carbonari and Palpacelli, {Matteo Claudio}",

note = "Publisher Copyright: Copyright {\textcopyright} 2016 by ASME.; ASME 2016 International Mechanical Engineering Congress and Exposition, IMECE 2016 ; Conference date: 11-11-2016 Through 17-11-2016",

year = "2016",

doi = "10.1115/IMECE201665614",

language = "English",

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publisher = "The American Society of Mechanical Engineers(ASME)",

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}

Gabrielli, A, Borboni, A, Carbonari, L & Palpacelli, MC 2016, Kinematic calibration of a 2-DOF parallel orientation manipulator: Theory and simulation results. in Dynamics, Vibration, and Control. ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 4A-2016, The American Society of Mechanical Engineers(ASME), ASME 2016 International Mechanical Engineering Congress and Exposition, IMECE 2016, Phoenix, United States, 11/11/16. https://doi.org/10.1115/IMECE201665614

Kinematic calibration of a 2-DOF parallel orientation manipulator: Theory and simulation results. / Gabrielli, Andrea; Borboni, Alberto; Carbonari, Luca et al.
Dynamics, Vibration, and Control. The American Society of Mechanical Engineers(ASME), 2016. (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 4A-2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Kinematic calibration of a 2-DOF parallel orientation manipulator

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AU - Gabrielli, Andrea

AU - Borboni, Alberto

AU - Carbonari, Luca

AU - Palpacelli, Matteo Claudio

PY - 2016

Y1 - 2016

N2 - 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.

AB - 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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M3 - Conference contribution

AN - SCOPUS:84994195148

T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)

BT - Dynamics, Vibration, and Control

PB - The American Society of Mechanical Engineers(ASME)

Y2 - 11 November 2016 through 17 November 2016

ER -

Kinematic calibration of a 2-DOF parallel orientation manipulator: Theory and simulation results

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