Stiffness estimation of a parallel manipulator using image analysis and camera calibration techniques

This work presents a methodology using image analysis to estimate the experimental stiffness of a parallel robot, Parallix LKF-2040, a 3-degree-of-freedom manipulator. The proposed methodology has a simple implementation and can be applied to different architectures of parallel robots. This methodology uses image analysis and camera calibration techniques to estimate compliant displacements of mobile platform produced by several loads at the end effector level, and calculate stiffness in a specific position of mobile platform. Experimental results are presented for different positions within the workspace.

[1]  Damien Chablat,et al.  Stiffness Analysis of Overconstrained Parallel Manipulators , 2009, ArXiv.

[2]  Zhengyou Zhang,et al.  A Flexible New Technique for Camera Calibration , 2000, IEEE Trans. Pattern Anal. Mach. Intell..

[3]  Dominique Deblaise,et al.  A systematic analytical method for PKM stiffness matrix calculation , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[4]  Marco Ceccarelli,et al.  Numerical and experimental analysis of the stiffness performances of parallel manipulators , 2005 .

[5]  Dinesh K. Pai,et al.  Robotic acquisition of deformable models , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[6]  Clément Gosselin,et al.  Parametric Stiffness Analysis of the Orthoglide , 2004, ArXiv.

[7]  Guangming Zhang,et al.  Stiffness Modeling of a Stewart Platform Based Milling Machine , 1996 .

[8]  Clément Gosselin,et al.  Stiffness mapping for parallel manipulators , 1990, IEEE Trans. Robotics Autom..

[9]  Takashi Suehiro,et al.  Stiffness Analysis and Design of a Compact Modified Delta Parallel Mechanism , 2004, Robotica.

[10]  Marco Ceccarelli,et al.  A Numerical Evaluation of the Stiffness of CaHyMan (Cassino Hybrid Manipulator) , 2001 .

[11]  Tian Huang,et al.  Stiffness estimation of a tripod-based parallel kinematic machine , 2002, IEEE Trans. Robotics Autom..

[12]  M. Ceccarelli,et al.  A stiffness analysis for CaPaMan (Cassino Parallel Manipulator) , 2002 .

[13]  François Pierrot,et al.  A Method for Modeling Analytical Stiffness of a Lower Mobility Parallel Manipulator , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[14]  Janne Heikkilä,et al.  A four-step camera calibration procedure with implicit image correction , 1997, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition.