|Table of Contents|

Position and Orientation Measurement of 6-THHT Parallel Robot

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2008年02期
Page:
149-153
Research Field:
Publishing date:

Info

Title:
Position and Orientation Measurement of 6-THHT Parallel Robot
Author(s):
LU Min-zhi12LI Kai-ming1
1.School of Mechanical Engineering,NUST,Nanjing 210094,China;2.Mechanic-electrical Department,Jiangsu College of Information Technology,Wuxi 214000,China
Keywords:
parallel robots mechanical precision measure equipment multi-sensors
PACS:
TP242
DOI:
-
Abstract:
In order to provide the real time position and orientation of the terminal manipulator on the 6-THHT parallel robot,a multi-sensor measurement for central measure-axle is studied,which is used in full working space of parallel manipulator.The measuring model is established with D-H matrix,and the solution arithmetic is given.Based on the six movement-chain parameters obtained from the experiments of measuring machine,the actual position and orientation of terminal manipulator at a certain time is obtained.This technology is used as the feedback segment of control system to determine the parameters of the parallel manipulator,which can also provide reference for the great closed-loop control of the parallel robot.

References:

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Last Update: 2008-04-30