Calibration of 6 DOF parallel mechanism driven by planar motors

Kiyoshi Takamasu, Keisuke Yoshida, Tatsuya Senoo, Xin Chen, Kiyoshi Kotani, Satoru Takahashi

Abstract

For high flexibility of assembly works, 6 DOF mechanisms are useful for supporting assembly workers. The 6 DOF mechanism needs to move in sub-mm and sub-degree absolute positioning accuracy over wide working area. For this purpose, we developed a novel 6 DOF parallel mechanism driven by 3 planar motors and a novel calibration method for this mechanism. The calibration experiments using CMM are performed and the results of the calibrations are evaluated.

Keywords

Parallel mechanism; planar motor; kinematic calibration; CMM; uncertainty evaluation

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IMEKO-TC14-2007-32.pdf

DOI

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IMEKO TC

TC14 - Measurement of Geometrical Quantities

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