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A Kinematic Error Model for a Parallel Gantry-Tau Manipulator

Författare:
Publiceringsår: 2010
Språk: Engelska
Sidor: 3709-3714
Dokumenttyp: Konferensbidrag

Sammanfattning

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.

Disputation

Nyckelord

  • Technology and Engineering

Övrigt

International Conference on Robotics and Automation (ICRA2010)
2010-05-03
Anchorage, Alaska, USA
Published
Yes
  • LCCC

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