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Research on the kinematic calibration of the 3-PTT parallel mechanism

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Abstract

Most of the kinematic calibration methods of parallel mechanisms only consider the geometric error of the mechanism, and the calibration effect is poor. To improve the calibration effect, this paper takes the 3-PTT (3-prismatic hook hook) parallel mechanism as the research object and proposes a kinematics calibration method based on the normalized representation model of the geometric error and non-geometric error of the mechanism. First, the degree of freedom of the mechanism is analyzed, its kinematics positive and negative solutions are solved, and its singularity is analyzed. Secondly, a normalized characterization method of mechanism geometric errors and non-geometric errors is proposed, and an error model without redundant parameters is constructed. The end motion error of the machine is measured by laser tracker, and the objective function is constructed. The genetic algorithm is designed to solve the minimum value of the objective function, and the normalized error of the mechanism is identified. By comparing with the recent methods, the better identification performance of the algorithm in this paper is verified. Finally, the kinematics model was corrected according to the identification results. After the calibration was completed, the movement errors of the end of the mechanism along each coordinate axis were reduced by more than 99 %. Compared with other calibration methods, the better calibration performance of the method in this paper is verified.

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Acknowledgments

This research is supported by the National Natural Science Foundation of China (No. 51965029).

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Authors and Affiliations

  1. Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, 650500, China

    Liang’en Huang, Minfang Chen, Shigao Zheng, Chaoyin He, Enxiao Zhu & Yongxia Zhang

Authors
  1. Liang’en Huang
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  2. Minfang Chen
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  3. Shigao Zheng
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  4. Chaoyin He
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  5. Enxiao Zhu
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  6. Yongxia Zhang
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Corresponding author

Correspondence to Minfang Chen.

Additional information

Liang’en Huang is currently a master’s student in mechanical and electronic engineering at the Kunming University of Technology. His research interests are robot human technology and application, and machine vision.

Mingfang Chen is currently a Professor and doctoral supervisor at the Kunming University of Technology. He received his doctorate in machinery manufacturing and automation from the Northeast University of China in 2015. His research direction is robot control algorithm, intelligent control theory, and its application.

Shigao Zheng is currently a master of mechanical and electronic engineering at the Kunming University of Technology. His research interests are robot technology and application, and electromechanical system integration technology.

Chaoyin He is currently a master of mechanical and electronic engineering at the Kunming University of Technology. His research direction is robot technology and application.

Enxiao Zhu is currently a master of mechanical and electronic engineering at the Kunming University of Technology. His research direction is the mechanical design of new mobile robots.

Yongxia Zhang is currently a senior engineer at Kunming University of Technology. Her research interests include ultrasonic cutting technology, robot control theory, circuit analysis, and engineering applications.

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Huang, L., Chen, M., Zheng, S. et al. Research on the kinematic calibration of the 3-PTT parallel mechanism. J Mech Sci Technol 37, 4311–4325 (2023). https://doi.org/10.1007/s12206-023-0747-4

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  • DOI: https://doi.org/10.1007/s12206-023-0747-4

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