Sensors 2010, 10(11), 10256-10297; https://doi.org/10.3390/s101110256
An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms
Department of Design and Manufacturing Engineering, Centro Politécnico Superior, University of Zaragoza, c/ MarÃa de Luna, 3, 50018 Zaragoza, Spain
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Received: 27 September 2010 / Revised: 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)
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. View Full-TextKeywords:
parallel mechanism; kinematic; internal sensor calibration; external sensor calibration; constraint calibration
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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.