와이어 병렬 메타니즘에 의한 로봇의 완전 자세 측정

Abstract

In this study, we proposed the wire parallel mechanism that can be used to measure a full pose of a robot. It is composed of six parallel links using wire. The position and orientation of the end effector of a robot are calculated using the length of wires which is measured by the encoder. The complex nonlinear equations of the forward kinematics are solved by using a numerical method, and the unique solution is obtained from the geometric configuration of the device. The length error of the wire which occurs in static condition is compensated by the relational equation that considered longitudinal extension and deflection of the wire. Through this work, we known that the proposed device has a good accuracy(±0.01mm) in a large measuring region, so it can be used effectively in a calibration of a robot which required a low cost.