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Open AccessArticle

Kinematic Calibration of a Cable-Driven Parallel Robot for 3D Printing

School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China
Author to whom correspondence should be addressed.
Sensors 2018, 18(9), 2898;
Received: 20 July 2018 / Revised: 20 August 2018 / Accepted: 28 August 2018 / Published: 1 September 2018
(This article belongs to the Special Issue Sensors for MEMS and Microsystems)
Three-dimensional (3D) printing technology has been greatly developed in the last decade and gradually applied in the construction, medical, and manufacturing industries. However, limited workspace and accuracy restrict the development of 3D printing technology. Due to the extension range and flexibility of cables, cable-driven parallel robots can be applied in challenging tasks that require motion with large reachable workspace and better flexibility. In this paper, a cable-driven parallel robot for 3D Printing is developed to obtain larger workspace rather than traditional 3D printing devices. A kinematic calibration method is proposed based on cable length residuals. On the basis of the kinematic model of the cable-driven parallel robot for 3D Printing, the mapping model is established among geometric structure errors, zero errors of the cable length, and end-effector position errors. In order to improve the efficiency of calibration measurement, an optimal scheme for measurement positions is proposed. The accuracy and efficiency of the kinematics calibration method are verified through numerical simulation. The calibration experiment based on the motion capture system indicates that the position error of end-effector is decreased to 0.6157 mm after calibration. In addition, the proposed calibration method is effective and verified for measurement positions outside optimal positions set through experiments. View Full-Text
Keywords: cable-driven parallel robot; kinematic calibration; error analysis; additive manufacturing cable-driven parallel robot; kinematic calibration; error analysis; additive manufacturing
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Qian, S.; Bao, K.; Zi, B.; Wang, N. Kinematic Calibration of a Cable-Driven Parallel Robot for 3D Printing. Sensors 2018, 18, 2898.

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