Measurement and calibration of a six-axis reconfigurable parallel robot system

Abstract

A modular reconfigurable parallel robot system consists of standardized links and joint components that can be assembled into a particular geometry for specific tasks. The modular parallel robot can have numerous configurations. Here, the focus is on systematically identified and analyzed a class of three-legged non-redundant parallel robots. Such robots have symmetrical geometry, simple kinematics and desirable characteristics suitable for practical applications. The objectives of this project are to develop a configuration-independent kinematic calibration model and computational algorithms for the reconfigurable robot system, to experimentally validate the calibration model, and to design a portable stand-along robot calibration unit with real-time data acquisition, and processing functions.