Abstract
This paper presents a wire parallel mechanism for full coordinate measuring of industrial robot. The mechanism is constructed with six parallel wires that act as links. The position and orientation of a robot end-effector are obtained from the wire lengths. The equations of the forward kinematics are solved by a Newton-Raphson method, and the unique solution is determined from the geometric configuration of the mechanism. A method to estimate the workspace is presented. Through simulations, it is verified that the proposed mechanism can measure a robot pose over a large workspace, and can be used effectively for full coordinate measuring of a robot with little cost and effort.
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Jeong, J.W., Kim, S.H. & Kwak, Y.K. Kinematic analysis of the wire parallel mechanism for full coordinate measuring of industrial robot. KSME International Journal 12, 1064–1072 (1998). https://doi.org/10.1007/BF02942579
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DOI: https://doi.org/10.1007/BF02942579