Next Article in Journal
A Fluorescent Cy7-Mercaptopyridine for the Selective Detection of Glutathione over Homocysteine and Cysteine
Next Article in Special Issue
A Non-Linear Model of an All-Elastomer, in-Plane, Capacitive, Tactile Sensor Under the Application of Normal Forces
Previous Article in Journal
An Effective and Secure Key Management Protocol for Message Delivery in Autonomous Vehicular Clouds
Previous Article in Special Issue
Fabrication Technology and Characteristics Research of a Monolithically-Integrated 2D Magnetic Field Sensor Based on Silicon Magnetic Sensitive Transistors
Article Menu
Issue 9 (September) cover image

Export Article

Open AccessArticle
Sensors 2018, 18(9), 2898; https://doi.org/10.3390/s18092898

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.
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)
Full-Text   |   PDF [8724 KB, uploaded 4 September 2018]   |  

Abstract

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
Figures

Figure 1

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 (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Qian, S.; Bao, K.; Zi, B.; Wang, N. Kinematic Calibration of a Cable-Driven Parallel Robot for 3D Printing. Sensors 2018, 18, 2898.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top