Study of Kinematic Calibration Method for Parallel Mechanism. (1st Report). Kinematic Calibration using Inverse Kinematics.

This paper describes a newly developed forward kinematic calibration method for parallel mechanisms which identifies the kinematic parameters using the pose data measured by a Double Ball Bar (DBB) system. The parameter identification procedure using forward kinematics does not require full pose data and, therefore, can make the measurement procedure simple. The measurement using the DBB system allows for large traveling plate orientations and enables simple and precise calibration. The principle of this method is first described, then the validity of this method is presented through simulations and experiments performed on a parallel mechanism based milling machine, named HexaM.