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Sensors 2010, 10(11), 10256-10297; doi:10.3390/s101110256
Review

An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms

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Received: 27 September 2010; in revised form: 25 October 2010 / Accepted: 5 November 2010 / Published: 16 November 2010
(This article belongs to the Special Issue 10 Years Sensors - A Decade of Publishing)
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Abstract: This paper presents an overview of the literature on kinematic and calibration models of parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel mechanisms used as sensors. The most relevant classifications to obtain and solve kinematic models and to identify geometric and non-geometric parameters in the calibration of parallel robots are discussed, examining the advantages and disadvantages of each method, presenting new trends and identifying unsolved problems. This overview tries to answer and show the solutions developed by the most up-to-date research to some of the most frequent questions that appear in the modelling of a parallel mechanism, such as how to measure, the number of sensors and necessary configurations, the type and influence of errors or the number of necessary parameters.
Keywords: parallel mechanism; kinematic; internal sensor calibration; external sensor calibration; constraint calibration parallel mechanism; kinematic; internal sensor calibration; external sensor calibration; constraint calibration
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Majarena, A.C.; Santolaria, J.; Samper, D.; Aguilar, J.J. An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms. Sensors 2010, 10, 10256-10297.

AMA Style

Majarena AC, Santolaria J, Samper D, Aguilar JJ. An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms. Sensors. 2010; 10(11):10256-10297.

Chicago/Turabian Style

Majarena, Ana C.; Santolaria, Jorge; Samper, David; Aguilar, Juan J. 2010. "An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms." Sensors 10, no. 11: 10256-10297.



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