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A novel, low-cost technique for modelless calibration of a 3-axis parallel kinematic machine

Bence Tipary (Institute for Computer Science and Control (SZTAKI), Eötvös Loránd Research Network (ELKH), Budapest, Hungary) (Department of Manufacturing Science and Engineering, Faculty of Mechanical Engineering, Budapest University of Technology and Economics, Budapest, Hungary)
Ferenc Gábor Erdős (Institute for Computer Science and Control (SZTAKI), Eötvös Loránd Research Network (ELKH), Budapest, Hungary) (Department of Manufacturing Science and Engineering, Faculty of Mechanical Engineering, Budapest University of Technology and Economics, Budapest, Hungary)

Industrial Robot

ISSN: 0143-991x

Article publication date: 30 November 2021

Issue publication date: 3 January 2022

146

Abstract

Purpose

The purpose of this paper is to propose a novel measurement technique and a modelless calibration method for improving the positioning accuracy of a three-axis parallel kinematic machine (PKM). The aim is to present a low-cost calibration alternative, for small and medium-sized enterprises, as well as educational and research teams, with no expensive measuring devices at their disposal.

Design/methodology/approach

Using a chessboard pattern on a ground-truth plane, a digital indicator, a two-dimensional eye-in-hand camera and a laser pointer, positioning errors are explored in the machine workspace. With the help of these measurements, interpolation functions are set up per direction, resulting in an interpolation vector function to compensate the volumetric errors in the workspace.

Findings

Based on the proof-of-concept system for the linear-delta PKM, it is shown that using the proposed measurement technique and modelless calibration method, positioning accuracy is significantly improved using simple setups.

Originality/value

In the proposed method, a combination of low-cost devices is applied to improve the three-dimensional positioning accuracy of a PKM. By using the presented tools, the parametric kinematic model is not required; furthermore, the calibration setup is simple, there is no need for hand–eye calibration and special fixturing in the machine workspace.

Keywords

Acknowledgements

This research has been partially supported by the Ministry for Innovation and Technology and the National Research, Development and Innovation Office within the framework of the National Lab for Autonomous Systems and partially by the ED_18-2-2018-0006 grant on “Research on prime exploitation of the potential provided by the industrial digitalisation.

Citation

Tipary, B. and Erdős, F.G. (2022), "A novel, low-cost technique for modelless calibration of a 3-axis parallel kinematic machine", Industrial Robot, Vol. 49 No. 1, pp. 168-176. https://doi.org/10.1108/IR-02-2021-0033

Publisher

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Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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