Sensitivity Analysis of the Design Parameters for the Calibration of Cable‐driven Parallel Robots

Reicherts, Sebastian; Blume, Sebastian; Reichert, Christopher; Schramm, D.

doi:10.1002/pamm.201610418

Cited by 3 publications

(2 citation statements)

References 1 publication

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“…Another similiar method is orthogonal distance regression (ODR) [11]. In addition to parameter identification, a sensitivity analysis of CDPR is performed in [12] to decrease the computing time of the calibration process.…”

Section: Introductionmentioning

confidence: 99%

Exit Point, Initial Length and Pose Self-calibration Method for Cable-Driven Parallel Robots

Wang

Caro

2021

Mechanism Design for Robotics

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A calibration process simulation for the interest variable values, including Cartesian coordinates of exit points, moving platform poses and initial cable lengths is performed. The simulation considers the modelling of the pulleys at exit points, and is carried out using nonlinear least square method. The effects of calibration tuning parameters and of measurement pose number on calibration quality are analyzed. As a result, the calibration quality increases with the decrease of tuning parameters and the increase of measurement pose number. The use of Jacobian matrix of the interest function fi,j also leads to a better calibration quality.

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Section: Introductionmentioning

confidence: 99%

Exit Point, Initial Length and Pose Self-calibration Method for Cable-Driven Parallel Robots

Wang

Caro

2021

Mechanism Design for Robotics

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“…There are also some studies on error modeling and sensitivity analysis of CDPRs. Reicherts et al [16] proposed a method for the accurate estimation of the kinematic parameters of a CDPR, where the calibration process was simplified, and the calibration accuracy was improved through sensitivity analysis of the CDPR. The results showed that the parameter influence generally decreases with its interaction level.…”

Section: Introductionmentioning

confidence: 99%

Conceptual design and error analysis of a cable-driven parallel robot

Zhao

Tang

et al. 2021

Robotica

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This paper develops the conceptual design and error analysis of a cable-driven parallel robot (CDPR). The earlier error analysis of CDPRs generally regarded the cable around the pulley as a center point and neglected the radius of the pulleys. In this paper, the conceptual design of a CDPR with pulleys on its base platform is performed, and an error mapping model considering the influence of radius of the pulleys for the CDPR is established through kinematics analysis and a full matrix complete differential method. Monte Carlo simulation is adopted to deal with the sensitivity analysis, which can directly describe the contribution of each error component to the total orientation error of the CDPR by virtue of the error modeling. The results show that the sensitivity coefficients of pulleys’ geometric errors and geometric errors of the cables are relatively larger, which confirms that the cable length errors and pulleys’ geometric errors should be given higher priority in design and processing.

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Error compensation of a 2TPR&2TPS parallel mechanism based on particle swarm optimization

He,

Chen,

Liang

et al. 2024

Trans. Can. Soc. Mech. Eng.

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This paper solves the problem of the precise compensation of the pose error of a 2TPR&2TPS parallel mechanism. First, the inverse solution of the mechanism is solved, the error source of the mechanism is analyzed, and a closed-loop vector method error model based on the inverse solution is established. Then, the ball screw commutation gap is measured with a high-precision grating ruler, and a laser tracker is used to measure the comprehensive position error of the mechanism under the set trajectory (circle). Finally, an error compensation algorithm based on the particle swarm algorithm is constructed, the measured trajectory data are substituted into the compensation algorithm, the position accuracy of the mechanism is significantly improved, and the compensation effect is remarkable. The compensation algorithm has good versatility, is simple and feasible, and can be applied to the error compensation of various mechanisms.

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Sensitivity Analysis of the Design Parameters for the Calibration of Cable‐driven Parallel Robots

Cited by 3 publications

References 1 publication

Exit Point, Initial Length and Pose Self-calibration Method for Cable-Driven Parallel Robots

Exit Point, Initial Length and Pose Self-calibration Method for Cable-Driven Parallel Robots

Conceptual design and error analysis of a cable-driven parallel robot

Error compensation of a 2TPR&2TPS parallel mechanism based on particle swarm optimization

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