4449 KB38 KB199920252017Ding, YabinMei, JiangpingXie, ShenglongZang, JiaweiZhang, Xuštevilka:12letnik:63str. 715-724, SI 106ISSN:0039-2480COBISSID:15800603URN:URN:NBN:SI:doc-GTRL0N3KenZveza strojnih inženirjev in tehnikov Slovenije etc.Strojniški vestnikmerilni mehanizmimetoda odrezanega singularnega razcepaoptimalen merilni položajparalelni robotipogrešek ničelne točkeumerjanjeRapid and automatic zero-offset calibration of a 2-DOF parallel robot based on a new measuring mechanism|This paper deals with the rapid and automatic zero-offset calibration of a 2-DOF parallel robot using distance measurements. The calibration system is introduced with emphasis on the design of a new measuring mechanism. A simplified error model of the robot is proposed after the sensitivity analyses of source errors, based on which a zero-offset identification model is developed using the truncated singular value decomposition (TSVD) method, and then it is modified with the manufacturing and assembly errors of the measuring mechanism (MAEMM). Furthermore, an optimization approach for selecting measurement positions is proposed by considering the condition number of the identification matrix. Finally, simulations and experiments are carried out to verify the effectiveness of the zero-offset calibration method. The results show that the identification model has good identifiability and robustness, and the position accuracy after calibration can be significantly improvedTEXTznanstveno časopisjejournalsSlovenian National E-content AggregatorNational and University Library of SloveniaUniverza v Ljubljani, Fakulteta za strojništvo