Development of a 6-DOF High-Speed Parallel Robot HEXA.

Uchiyama, Masaru; Iimura, Ken–ichi; Tarao, Susumu; Pierrot, François; Toyama, Osamu

doi:10.7210/jrsj.12.451

Cited by 15 publications

(3 citation statements)

References 3 publications

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“…It is the use of base-mounted actuators and low-mass links that allows the mobile platform to achieve high speed and acceleration, better accuracy, higher stiffness and greater loading capacities over the serial manipulators. The first model of Hexa was made in Tohoku University, Japan, by Masaru Uchiyama and his team in 1992 (Uchiyama et al, 1992). They were successful in calibrating (Maurine et al, 1998) and controlling their robot (Uchiyama et al, 1994).…”

Section: Mechanism Descriptionmentioning

confidence: 99%

Vision-based calibration of a Hexa parallel robot

Dehghani

Ahmadi

Khayatian

et al. 2014

Industrial Robot: An International Journal

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Purpose – The purpose of this paper is to present a vision-based method for the kinematic calibration of a six-degrees-of-freedom parallel robot named Hexa using only one Universal Serial Bus (USB) camera and a chess pattern installed on the robot's mobile platform. Such an approach avoids using any internal sensors or complex three-dimensional measurement systems to obtain the pose (position/orientation) of the robot's end-effector or the joint coordinates. Design/methodology/approach – The setup of the proposed method is very simple; only one USB camera connected to a laptop computer is needed and no contact with the robot is necessary during the calibration procedure. For camera modeling, a pinhole model is used; it is then modified by considering some distortion coefficients. Intrinsic and extrinsic parameters and the distortion coefficients are found by an offline minimization algorithm. The chess pattern makes image corner detection very straightforward; this detection leads to finding the camera and then the kinematic parameters. To carry out the calibration procedure, several trajectories are run (the results of two of them are presented here) and sufficient specifications of the poses (positions/orientations) are calculated to find the kinematic parameters of the robot. Experimental results obtained when applying the calibration procedure on a Hexa parallel robot show that vision-based kinematic calibration yields enhanced and efficient positioning accuracy. After successful calibration and addition of an appropriate control scheme, the robot has been considered as a color-painting prototype robot to serve in relevant industries. Findings – Experimental results obtained when applying the calibration procedure on a Hexa parallel robot show that vision-based kinematic calibration yields enhanced and efficient positioning accuracy. Originality/value – The enhanced results show the advantages of this method in comparison with the previous calibration methods.

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Section: Mechanism Descriptionmentioning

confidence: 99%

Vision-based calibration of a Hexa parallel robot

Dehghani

Ahmadi

Khayatian

et al. 2014

Industrial Robot: An International Journal

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“…However, the motion range is narrow because the sub arm endpoints are connected to each other. In previous studies related to parallel mechanisms with a high speed motion, DELTA[l], HEXA [2], [3], 'Matsurnoto and Kimura were graduate students of Mechanical Systems Course in Ritsurneikan University In designing a highly efficient, defining the optimum design parameters through trial and error is difficult because many parameters relate mutually. Therefore, various design methods have been proposed [6]- [9].…”

Section: Introductionmentioning

confidence: 99%

Development of parallel manipulator "NINJA" with ultra-high-acceleration

Nagai

Matsumoto

Kimura

et al.

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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This paper describes the process of developing the paral. le1 mechanism "NINJA", which is designed to achieve an acceleration rate ouer 100 [GI (G: gravitational acceleration). To design this mechanism, we introduce U two-step design method (an optimum design method). The technical part of this method consists of formulating the design problem of Step 1, where we assume and select the design parameters, which should satisfy the required specifications, and of Step 2, where we optimize the parameters under the constraint conditions based on the required specifications. To demonstrate the acceleration performance, we present experimental results using the prototype NINJA.

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“…But, there is a possibility that the computational complexity increases when accuracy is improved in the iterative calculation. [1]D By the other techniques,it is necessary to newly add a sensor, and since calculation is complicated, the method efficient enough has not been proposed [2][3] [4].…”

Section: Introductionmentioning

confidence: 99%