Laser Interferometer Based Calibration Technique for Multi-pods Parallel Structures

摘要

The paper deals with the investigation of calibration technique for multi-pods parallel structures. Recently there have been designed many parallel robotic structures. There is required an accurate positioning of their end-effector which depends also on the accurate kinematical model. The serious problem is the calibration of their dimensions because the links in parallel structures must be calibrated simultaneously and the ratio between the necessary accuracy of measurement and the accuracy of calibration is quite high. The paper describes technique which can calibrate the parallel links relatively independently and which can easily use the accuracy of laser interferometer.