TY - GEN
T1 - A comprehensive numerical study on the number of identifiable kinematic parameters of parallel mechanisms
AU - Kong, Lingyu
AU - Chen, Genliang
AU - Huang, Guanyu
AU - Song, Sumian
AU - Xie, Anhuan
AU - Zhang, Dan
N1 - Publisher Copyright:
© 2021 by ASME
PY - 2021/8
Y1 - 2021/8
N2 - Kinematic error model plays an important role in improving the positioning accuracy of robot manipulators by kinematic calibration. The identifiability of kinematic parameters in the error model directly affects the positioning accuracy of the mechanism. And the number of identifiable kinematic parameters determines how many parameters can be accurately identified by kinematic calibration, which is one of the theoretical basis of kinematic error modeling. For serial mechanisms, a consensus has been reached that the maximum number of identifiable kinematic parameters is 4R + 2P + 6, where R and P represent the numbers of revolute and prismatic joints, respectively. Due to complex topologies of parallel mechanisms, there is still no agreement on the formula of the maximum number of identifiable parameters. In this paper, a comprehensive numerical study on the number of identifiable kinematic parameters of parallel mechanisms is conducted. The number of identifiable parameters of 3802 kinds of limbs with different types or actuation arrangements are analyzed. It can be concluded that the maximum number of identifiable kinematic parameters is Σni=14Ri + 2Pi + 6 −Ci − 2(PP)i/3(PPP1)i/(2Ri + 2Pi)(PPP)i, where Ci represents the number of joints whose motion cannot be measured and n denotes the number of limbs in a parallel mechanism; (PP)i, (PPP1)i, and (PPP)i represent two consecutive unmeasurable P joints, three consecutive P joints in which two of them cannot be measured, and three unmeasurable P joints, respectively.
AB - Kinematic error model plays an important role in improving the positioning accuracy of robot manipulators by kinematic calibration. The identifiability of kinematic parameters in the error model directly affects the positioning accuracy of the mechanism. And the number of identifiable kinematic parameters determines how many parameters can be accurately identified by kinematic calibration, which is one of the theoretical basis of kinematic error modeling. For serial mechanisms, a consensus has been reached that the maximum number of identifiable kinematic parameters is 4R + 2P + 6, where R and P represent the numbers of revolute and prismatic joints, respectively. Due to complex topologies of parallel mechanisms, there is still no agreement on the formula of the maximum number of identifiable parameters. In this paper, a comprehensive numerical study on the number of identifiable kinematic parameters of parallel mechanisms is conducted. The number of identifiable parameters of 3802 kinds of limbs with different types or actuation arrangements are analyzed. It can be concluded that the maximum number of identifiable kinematic parameters is Σni=14Ri + 2Pi + 6 −Ci − 2(PP)i/3(PPP1)i/(2Ri + 2Pi)(PPP)i, where Ci represents the number of joints whose motion cannot be measured and n denotes the number of limbs in a parallel mechanism; (PP)i, (PPP1)i, and (PPP)i represent two consecutive unmeasurable P joints, three consecutive P joints in which two of them cannot be measured, and three unmeasurable P joints, respectively.
UR - http://www.scopus.com/inward/record.url?scp=85119984814&partnerID=8YFLogxK
U2 - 10.1115/DETC2021-70723
DO - 10.1115/DETC2021-70723
M3 - Conference article published in proceeding or book
AN - SCOPUS:85119984814
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 45th Mechanisms and Robotics Conference (MR)
PB - American Society of Mechanical Engineers(ASME)
T2 - 45th Mechanisms and Robotics Conference, MR 2021, Held as Part of the ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2021
Y2 - 17 August 2021 through 19 August 2021
ER -