Design and kinematic analysis of the wire parallel mechanism for arobot pose measurement

摘要

This paper presents a wire parallel mechanism designed andmanufactured for a robot pose measurement which can be used for a robotcalibration. It consists of six parallel links using wires. The positionand orientation of a robot are obtained from the wire lengths measuredin the wire parallel mechanism. The complex nonlinear equations of theforward kinematics of a parallel mechanism are solved by using thenumerical method (Newton-Raphson method), and the unique solution isdetermined from a geometric configuration of the designed mechanism.Through the experiments, it is verified that the developed mechanism canmeasure a full pose of a robot and has an accuracy of ±0.05 mm,±0.1° in the position and orientation, respectively. Inconclusion, it can be used effectively for measuring of a robot posewith low cost and effort