A Kinematic Error Model for a Parallel Gantry-Tau Manipulator
Author
Summary, in English
Parallel robots are generally said to be more accurate but to have a smaller workspace compared to serial robots. With the Gantry-Tau robot, a parallel robot with a large, reconfigurable workspace was presented. This article tries to identify the maximum achievable end-effector positioning accuracy of the Gantry-Tau robot. To this end, a couple of new kinematic error models are presented and evaluated. The sources of the remaining positioning errors (0.09 mm) are discussed.
Department/s
Publishing year
2010
Language
English
Pages
3709-3714
Full text
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Document type
Conference paper
Topic
- Control Engineering
Conference name
International Conference on Robotics and Automation (ICRA2010)
Conference date
2010-05-03
Conference place
Anchorage, Alaska, United States
Status
Published
Research group
- LCCC