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Kinematic analysis of the wire parallel mechanism for robot pose measurement

로봇자세 측정용 와이어 병렬메카니즘의 기구학적 해석

Jeong, Jae-Won;Kim, Soo-Hyun;Kwak, Yoon-Keun
정재원;김수현;곽윤근

  • Published : 1997.12.01

Abstract

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.

Keywords

Robotics;Forward Kinematics;Numerical Analysis;Pose Measurement;Wire Parallel Mechanism;Measuring Space