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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.

Nyckelord

  • Control Engineering

Övriga

International Conference on Robotics and Automation (ICRA2010)
Published
  • LCCC-lup-obsolete

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