Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method

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CHENG, Gang ;GU, Wei ;YU, Jing-li ;TANG, Ping .
Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 57, n.10, p. 719-729, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/overall-structure-calibration-of-3-ucr-parallel-manipulator-based-on-quaternion-method/>. Date accessed: 19 jan. 2020. 
doi:http://dx.doi.org/10.5545/sv-jme.2010.167.
Cheng, G., Gu, W., Yu, J., & Tang, P.
(2011).
Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method.
Strojniški vestnik - Journal of Mechanical Engineering, 57(10), 719-729.
doi:http://dx.doi.org/10.5545/sv-jme.2010.167
@article{sv-jmesv-jme.2010.167,
	author = {Gang  Cheng and Wei  Gu and Jing-li  Yu and Ping  Tang},
	title = {Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {57},
	number = {10},
	year = {2011},
	keywords = {3-UCR parallel manipulator; complete differential-coefficient theory; Quaternion; least squares method; sensitivity model; kinematic calibration},
	abstract = {In this article a simple yet effective approach for the structure calibration of a three degree-offreedom (DOF) parallel manipulator is presented. In this approach, the model of the pose error expressed by the Quaternions Parameters was established, based on complete differential-coefficient theory. This was followed by an investigation into the degree of influences represented as sensitivity percentages, of source errors on the pose accuracy with the aid of a statistical model of sensitivity coefficients. Then, the kinematic calibration model with the successive approximation algorithm was achieved. The simulation has been carried out to verify the effectiveness of the proposed algorithm and the results show that the accuracy of the calibration can be significantly improved.},
	issn = {0039-2480},	pages = {719-729},	doi = {10.5545/sv-jme.2010.167},
	url = {https://www.sv-jme.eu/sl/article/overall-structure-calibration-of-3-ucr-parallel-manipulator-based-on-quaternion-method/}
}
Cheng, G.,Gu, W.,Yu, J.,Tang, P.
2011 June 57. Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 57:10
%A Cheng, Gang 
%A Gu, Wei 
%A Yu, Jing-li 
%A Tang, Ping 
%D 2011
%T Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method
%B 2011
%9 3-UCR parallel manipulator; complete differential-coefficient theory; Quaternion; least squares method; sensitivity model; kinematic calibration
%! Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method
%K 3-UCR parallel manipulator; complete differential-coefficient theory; Quaternion; least squares method; sensitivity model; kinematic calibration
%X In this article a simple yet effective approach for the structure calibration of a three degree-offreedom (DOF) parallel manipulator is presented. In this approach, the model of the pose error expressed by the Quaternions Parameters was established, based on complete differential-coefficient theory. This was followed by an investigation into the degree of influences represented as sensitivity percentages, of source errors on the pose accuracy with the aid of a statistical model of sensitivity coefficients. Then, the kinematic calibration model with the successive approximation algorithm was achieved. The simulation has been carried out to verify the effectiveness of the proposed algorithm and the results show that the accuracy of the calibration can be significantly improved.
%U https://www.sv-jme.eu/sl/article/overall-structure-calibration-of-3-ucr-parallel-manipulator-based-on-quaternion-method/
%0 Journal Article
%R 10.5545/sv-jme.2010.167
%& 719
%P 11
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 57
%N 10
%@ 0039-2480
%8 2018-06-29
%7 2018-06-29
Cheng, Gang, Wei  Gu, Jing-li  Yu, & Ping  Tang.
"Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method." Strojniški vestnik - Journal of Mechanical Engineering [Online], 57.10 (2011): 719-729. Web.  19 Jan. 2020
TY  - JOUR
AU  - Cheng, Gang 
AU  - Gu, Wei 
AU  - Yu, Jing-li 
AU  - Tang, Ping 
PY  - 2011
TI  - Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2010.167
KW  - 3-UCR parallel manipulator; complete differential-coefficient theory; Quaternion; least squares method; sensitivity model; kinematic calibration
N2  - In this article a simple yet effective approach for the structure calibration of a three degree-offreedom (DOF) parallel manipulator is presented. In this approach, the model of the pose error expressed by the Quaternions Parameters was established, based on complete differential-coefficient theory. This was followed by an investigation into the degree of influences represented as sensitivity percentages, of source errors on the pose accuracy with the aid of a statistical model of sensitivity coefficients. Then, the kinematic calibration model with the successive approximation algorithm was achieved. The simulation has been carried out to verify the effectiveness of the proposed algorithm and the results show that the accuracy of the calibration can be significantly improved.
UR  - https://www.sv-jme.eu/sl/article/overall-structure-calibration-of-3-ucr-parallel-manipulator-based-on-quaternion-method/
@article{{sv-jme}{sv-jme.2010.167},
	author = {Cheng, G., Gu, W., Yu, J., Tang, P.},
	title = {Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {57},
	number = {10},
	year = {2011},
	doi = {10.5545/sv-jme.2010.167},
	url = {https://www.sv-jme.eu/sl/article/overall-structure-calibration-of-3-ucr-parallel-manipulator-based-on-quaternion-method/}
}
TY  - JOUR
AU  - Cheng, Gang 
AU  - Gu, Wei 
AU  - Yu, Jing-li 
AU  - Tang, Ping 
PY  - 2018/06/29
TI  - Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 57, No 10 (2011): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2010.167
KW  - 3-UCR parallel manipulator, complete differential-coefficient theory, Quaternion, least squares method, sensitivity model, kinematic calibration
N2  - In this article a simple yet effective approach for the structure calibration of a three degree-offreedom (DOF) parallel manipulator is presented. In this approach, the model of the pose error expressed by the Quaternions Parameters was established, based on complete differential-coefficient theory. This was followed by an investigation into the degree of influences represented as sensitivity percentages, of source errors on the pose accuracy with the aid of a statistical model of sensitivity coefficients. Then, the kinematic calibration model with the successive approximation algorithm was achieved. The simulation has been carried out to verify the effectiveness of the proposed algorithm and the results show that the accuracy of the calibration can be significantly improved.
UR  - https://www.sv-jme.eu/sl/article/overall-structure-calibration-of-3-ucr-parallel-manipulator-based-on-quaternion-method/
Cheng, Gang, Gu, Wei, Yu, Jing-li, AND Tang, Ping.
"Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 57 Number 10 (29 June 2018)

Avtorji

Inštitucije

  • College of Mechanical and Electrical Engineering, China University of Mining and Technology, 221008, Xuzhou, China 1
  • China University of Mining and Technology, College of Mechanical and Electrical Engineering, China 2

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 57(2011)10, 719-729

https://doi.org/10.5545/sv-jme.2010.167

In this article a simple yet effective approach for the structure calibration of a three degree-offreedom (DOF) parallel manipulator is presented. In this approach, the model of the pose error expressed by the Quaternions Parameters was established, based on complete differential-coefficient theory. This was followed by an investigation into the degree of influences represented as sensitivity percentages, of source errors on the pose accuracy with the aid of a statistical model of sensitivity coefficients. Then, the kinematic calibration model with the successive approximation algorithm was achieved. The simulation has been carried out to verify the effectiveness of the proposed algorithm and the results show that the accuracy of the calibration can be significantly improved.

3-UCR parallel manipulator; complete differential-coefficient theory; Quaternion; least squares method; sensitivity model; kinematic calibration