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Kinematic Calibration of a 2-DOF Parallel Orientation Manipulator: Theory and Simulation Results

[+] Author Affiliations
Andrea Gabrielli, Alberto Borboni

Università degli Studi di Brescia, Brescia, Italy

Luca Carbonari, Matteo-Claudio Palpacelli

Università Politecnica delle Marche, Ancona, Italy

Paper No. IMECE2016-65614, pp. V04AT05A011; 10 pages
  • ASME 2016 International Mechanical Engineering Congress and Exposition
  • Volume 4A: Dynamics, Vibration, and Control
  • Phoenix, Arizona, USA, November 11–17, 2016
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5054-1
  • Copyright © 2016 by ASME


The objective of this work is the calibration analysis of a 2-DOF orientation manipulator, conceived for micro-orientation tasks inside a microassembly workcell. The proposed device is an overconstrained spherical five-bar mechanism, already widely studied in the scientific literature and known for being a simple but robust solution for the realization of robot wrists; its 5R parallel kinematics architecture allows a wide orientation workspace and good accuracy performances. The present paper sets the theoretical bases for the “geometrical calibration” of the PKM (Parallel Kinematics Machine) and discusses the first simulation results: the meaning of “geometrical calibration” is intended as the identification of the construction and assembly errors that affect the manipulator static accuracy.

Copyright © 2016 by ASME



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