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Performance evaluation and calibration of gantry-tau parallel mechanism

Version 2 2024-06-06, 10:34
Version 1 2019-11-01, 12:34
journal contribution
posted on 2024-06-06, 10:34 authored by MR Chalak Qazani, S Pedrammehr, Hamid AbdiHamid Abdi, S Nahavandi
The Gantry-Tau is a family of parallel manipulators with three linear actuators. This mechanism is of interest for various applications because of the large workspace and its performance in terms of high acceleration, precision, and stiffness characteristics. This paper presents workspace analysis and calibration for a Gantry-Tau mechanism using its forward kinematics. The mathematical model of the systematic errors in the kinematics model of the manipulator is obtained. Analysis of the error is then performed to identify the parameters that have a dominant effect on the kinematics error and the regions of the workspace with a high error due to the calibration. Minimization of the mean square and mean absolute errors is employed for calibration through kinematics parameters. For demonstration purposes, a SimMechanics kinematic model of the mechanism is used and its calibration is performed over many sampled positions within the workspace borders of the robot. The result demonstrates that the kinematic error is significantly reduced after the calibration.

History

Journal

Iranian Journal of Science and Technology - Transactions of Mechanical Engineering

Volume

44

Pagination

1013-1027

Location

Berlin, Germany

ISSN

2228-6187

eISSN

2364-1835

Language

English

Publication classification

C Journal article, C1 Refereed article in a scholarly journal

Issue

4

Publisher

Springer