A Kinematic Error Model for a Parallel Gantry-Tau Manipulator
Författare
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.
Avdelning/ar
Publiceringsår
2010
Språk
Engelska
Sidor
3709-3714
Fulltext
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Dokumenttyp
Konferensbidrag
Ämne
- Control Engineering
Conference name
International Conference on Robotics and Automation (ICRA2010)
Conference date
2010-05-03
Conference place
Anchorage, Alaska, United States
Status
Published
Forskningsgrupp
- LCCC