Calibration Method for Parallel Mechanism using Micro Grid Pattern

• TANAKA Wataru

  Hitachi Research Laboratory, Hitachi, Ltd.

• ARAI Tatsuo

  Graduate school of engineering science, Osaka university

• INOUE Kenji

  Graduate school of faculty of engineering, bio-system engineering, Yamagata university

• TAKUBO Tomohito

  Graduate school of engineering science, Osaka university

• PARK Choong Sik

  Technology Research Institute of Osaka Prefecture

抄録

We investigated a calibration method of a parallel mechanism stage which is installed under a microscope. Our proposed method uses measurement data of the 2-DOF translations on the surface (x-y plane) of the end-effector and the rotation about the axis (z) perpendicular to the surface, and these measurement data are obtained by the measurement method with a micro grid pattern. We discuss the calibration method with simulations and experiments for a stage comprised of a fixed linear actuated parallel mechanism. The results show that the calibration which restricts measurement data to those 3-DOF of the end-effector is possible and has good performance.

収録刊行物

• Journal of Environment and Engineering

  Journal of Environment and Engineering 6 (4), 739-752, 2011

  一般社団法人 日本機械学会

キーワード

• Mechatronics and Robotics
• Positioning
• Identification
• Absolute Accuracy
• Calibration
• Parallel Mechanism

詳細情報

• CRID: 1390001205261709952
• NII論文ID: 130000792145
• DOI: 10.1299/jee.6.739
• ISSN: 1880988X
• Web Site: http://www.jstage.jst.go.jp/article/jee/6/4/6_4_739/_pdf
• 本文言語コード: en
• データソース種別:
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  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可