A Comparative Study on Kinematic Calibration for a 3-DOF Parallel Manipulator Using the Complete-Minimal,Inverse-Kinematic and Geometric-Constraint Error Models  

作　　者：Haiyu Wu Lingyu Kong Qinchuan Li Hao Wang Genliang Chen 

机构地区：[1]State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China [2]Intelligent Robot Research Center,Zhejiang Lab,Hangzhou 311100,China [3]School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China

出　　处：《Chinese Journal of Mechanical Engineering》2023年第5期206-230,共25页中国机械工程学报（英文版）

基　　金：Supported by National Key Research and Development Program of China(Grant No.2019YFA0709001);National Natural Science Foundation of China(Grant Nos.52022056,51875334,52205031 and 52205034);National Key Research and Development Program of China(Grant No.2017YFE0111300).

摘　　要：Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models is presented to investigate the relative merits of diferent error modeling methods. The study takes into consideration the inverse-kinematic error model, which ignores all passive joint errors, the geometric-constraint error model, which is derived by special geometric constraints of the studied RPR-equivalent parallel manipulator, and the complete-minimal error model, which meets the complete, minimal, and continuous criteria. This comparison focuses on aspects such as modeling complexity, identifcation accuracy, the impact of noise uncertainty, and parameter identifability. To facilitate a more intuitive comparison, simulations are conducted to draw conclusions in certain aspects, including accuracy, the infuence of the S joint, identifcation with noises, and sensitivity indices. The simulations indicate that the complete-minimal error model exhibits the lowest residual values, and all error models demonstrate stability considering noises. Hereafter, an experiment is conducted on a prototype using a laser tracker, providing further insights into the diferences among the three error models. The results show that the residual errors of this machine tool are signifcantly improved according to the identifed parameters, and the complete-minimal error model can approach the measurements by nearly 90% compared to the inverse-kinematic error model. The fndings pertaining to the model process, complexity, and limitations are also instructive for other parallel manipulators.

关 键 词：Kinematic calibration Parallel manipulator Error modeling Product of exponential(POE) 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]