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Position and Orientation Measurement of 6-THHT Parallel Robot


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Position and Orientation Measurement of 6-THHT Parallel Robot
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
parallel robots mechanical precision measure equipment multi-sensors
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.


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Last Update: 2008-04-30