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Kinematic Calibration of a 2-DOF Over-Constrained Parallel Manipulator Using Force Data

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Advances in Mechanism, Machine Science and Engineering in China (CCMMS 2022)

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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Abstract

The over-constrained parallel manipulators have drawn a lot of attention, and their application potential is constantly being explored. To improve the performance of the over-constrained mechanism, the actual structural parameters need to be calibrated. The calibration methods of the non-over-constrained mechanism cannot be applied to the over-constrained mechanism because of the existence of the over-constrained force. Therefore, the calibration methods which utilize a complex model to calculate the deformation and the over-constrained force are proposed. These methods need complex modeling and calculation, and the calculation errors of the forces and deformation may affect the calibration accuracy. To follow the trend of perceptual intelligence and simplify the calibration process, a kinematic calibration method of the over-constrained mechanism is proposed, utilizing the measured force data to calibrate the actual structural parameters. This method can avoid complex modeling and eliminate the impact of the calculation errors of the forces and deformation on the calibration accuracy. To verify the feasibility of this method, a 2-DOF over-constrained parallel manipulator is designed and developed. Each chain of this mechanism contains a force sensor, which is utilized to measure the over-constrained force. The kinematic error model is established in this paper, and it is identified using the Newton–Raphson iteration, the Regularization method, and the least-square method. Finally, a group of experiments is conducted to verify the validity of this method. The experiment results show that this method can reduce the root mean square error of the over-constrained mechanism from 1.243 to 0.028 mm.

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Acknowledgements

Supported by the National Natural Science Foundation of China (Grant No. 52175017).

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Authors and Affiliations

  1. Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Shuqing Chen, Yixiao Feng & Tiemin Li

Authors
  1. Shuqing Chen
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  2. Yixiao Feng
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  3. Tiemin Li
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Corresponding author

Correspondence to Tiemin Li .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Tsinghua University, Beijing, China

    Xinjun Liu

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Chen, S., Feng, Y., Li, T. (2023). Kinematic Calibration of a 2-DOF Over-Constrained Parallel Manipulator Using Force Data. In: Liu, X. (eds) Advances in Mechanism, Machine Science and Engineering in China. CCMMS 2022. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-9398-5_9

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  • DOI: https://doi.org/10.1007/978-981-19-9398-5_9

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-9397-8

  • Online ISBN: 978-981-19-9398-5

  • eBook Packages: EngineeringEngineering (R0)

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