Accuracy analysis and calibration of 3-PUS/S parallel battery swapping robot

In this paper, a 3-PUS/S parallel battery swapping robot is introduced. The vector chain method and differential relations are used. The error model of the parallel robot is established. Then sensitivity analysis is achieved. According to the sensitivity analysis, the structures with higher sensitivity must be strictly controlled. Then the DBB-based calibration model is established and the simulation is carried out to verify the effectiveness of the proposed algorithm. The results show that through the calibration, the accuracy of the robot can be significantly improved. Finally the precision measurement experiments are achieved.

[1]  S. Staicu,et al.  Inverse dynamics of a 3-PRC parallel kinematic machine , 2012 .

[2]  Hanqi Zhuang,et al.  Calibration of stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals , 1998 .

[3]  Qingsong Xu,et al.  Kinematic analysis of a 3-PRS parallel manipulator , 2007 .

[4]  Yangmin Li,et al.  Kinematics and workspace analysis for a novel 6-PSS parallel manipulator , 2013, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[5]  Vincent Hayward,et al.  Calibration of a parallel robot using multiple kinematic closed loops , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[6]  Tatsuo Arai,et al.  Accuracy analysis of a modified Stewart platform manipulator , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[7]  Hanqi Zhuang,et al.  Calibration of stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals , 1998, J. Field Robotics.

[8]  A. Rauf,et al.  A new method for fully autonomous calibration of parallel manipulators using a constraint link , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).

[9]  Jian Wang,et al.  On the accuracy of a Stewart platform. I. The effect of manufacturing tolerances , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[10]  Hiroaki Funabashi,et al.  A DBB-Based Kinematic Calibration Method for In-Parallel Actuated Mechanisms Using a Fourier Series , 2002 .

[11]  David E. Goldberg,et al.  Genetic algorithms and Machine Learning , 1988, Machine Learning.