Publisher : The Korean Society of Mechanical Engineers
DOI : 10.22634/KSME-A.19184.108.40.2066
Title & Authors
Kinematic analysis of the wire parallel mechanism for robot pose measurement Jeong, Jae-Won; Kim, Soo-Hyun; Kwak, Yoon-Keun;
This paper presents the Wire Parallel Mechanism for robot pose measurement which can be used to robot calibration. It is constructed with six parallel links using wire. The position and orientation of the end effector of a robot are calculated from the wire length that measured by the encoder. The unique solution is obtained from a Newton-Raphson method and geometric configuration of the mechanism, also the method to estimate a measuring space is presented. Through the simulations, it is verified that the proposed mechanism can measure a robot pose, and has a large measuring space. In conclusion, it can be used effectively in a robot pose measurement with little cost and effort.