11/12/2020 Kinematic calibration and investigation of the influence of universal joint errors on accuracy improvement for a 3-DOF parallel

parallel mani…

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Robotics and Computer-Integrated Manufacturing

Volume 49, February 2018, Pages 388-397

Kinematic calibration and investigation of the influence of

universal joint errors on accuracy improvement for a 3-DOF
parallel manipulator
Lingyu Kong a, b , Genliang Chen a, b , Zhuang Zhang a, b , Hao Wang a, b

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https://doi.org/10.1016/j.rcim.2017.08.002 Get rights and content

Highlights
• The error model of the 3-DOF parallel manipulator is established by D-H based
methods such that all of the potential error parameters can be considered. This
error modeling method can also be used for most of the non-overconstrained
parallel manipulators.

• The kinematic parameters of the 3 limbs can be identified simultaneously based

on the proposed calibration model.

• The influence of the defects of universal joints on accuracy improvement after

kinematic calibration is investigated.

Abstract
https://www.sciencedirect.com/science/article/abs/pii/S0736584517301576 1/3
11/12/2020 Kinematic calibration and investigation of the influence of universal joint errors on accuracy improvement for a 3-DOF parallel mani…

This paper focuses on the accuracy enhancement of a 3-PRRU parallel manipulator and the
influence of imperfect universal joints on calibration result through kinematic calibration.
The error model of the PRRU limb that contains all of the identifiable kinematic errors is
established based on modified Denavit–Hartenberg method and Hayati convention. By
eliminating the motion errors of passive joints and combining all of the limbs’ error models,
the calibration model of the parallel manipulator is obtained. To verify the effectiveness of the
error model and investigate the influence of the imperfect universal joints on positioning
accuracy improvement, numerical simulations and experiments of kinematic calibration are
respectively conducted and total least squares method is used to identify the kinematic
parameters. The results of the simulations and experiments show that the defects of universal
joints have smaller effect on the accuracy improvement for this manipulator when compared
with the cases that the universal joints are perfectly manufactured and assembled.

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Keywords
Kinematic calibration; Parallel manipulators; Denavit–Hartenberg (D-H) method;
Universal joints

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11/12/2020 Kinematic calibration and investigation of the influence of universal joint errors on accuracy improvement for a 3-DOF parallel mani…

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