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Frontiers of Mechanical Engineering

Front Mech Eng    2013, Vol. 8 Issue (3) : 252-260     https://doi.org/10.1007/s11465-013-0249-7
RESEARCH ARTICLE
Kinematic calibration of precise 6-DOF stewart platform-type positioning systems for radio telescope applications
Juan Carlos JáUREGUI1(), Eusebio E. HERNáNDEZ2, Marco CECCARELLI3, Carlos LóPEZ-CAJúN4, Alejandro GARCíA5
1. División de Estudios de Posgrado, Facultad de Ingeniería, Universidad Autónoma de Quéretaro Quéretaro, Qro. Mexico; 2. National Polytechnic Institute, IPN, Section of Graduate Studies and Research, ESIME-UPT, México D.F., Mexico; 3. Laboratory of Robotics and Mechatronics University of Cassino, Italy; 4. Universidad Autónoma de Quéretaro Querétaro, Qro. México; 5. CIATEQ, A.C. Aguascalientes, Ags. México
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Abstract

The pose accuracy of a parallel robot is a function of the mobile platform posture. Thus, there is no a single value of the robot’s accuracy. In this paper, two novel methods for estimating the accuracy of parallel robots are presented. In the first method, the pose accuracy estimation is calculated by considering the propagation of each error, i.e., error variations are considered as a function of the actuator’s stroke. In the second method, it is considered that each actuator has a constant error at any stroke. Both methods can predict pose accuracy of precise robots at design stages, and/or can reduce calibration time of existing robots. An example of a six degree-of-freedom parallel manipulator is included to show the application of the proposed methods.

Keywords pose errors      error estimation      parallel robot      radio telescopes     
Corresponding Author(s): JáUREGUI Juan Carlos,Email:jc.jauregui@uaq.mx   
Issue Date: 05 September 2013
 Cite this article:   
Juan Carlos JáUREGUI,Eusebio E. HERNáNDEZ,Marco CECCARELLI, et al. Kinematic calibration of precise 6-DOF stewart platform-type positioning systems for radio telescope applications[J]. Front Mech Eng, 2013, 8(3): 252-260.
 URL:  
http://journal.hep.com.cn/fme/EN/10.1007/s11465-013-0249-7
http://journal.hep.com.cn/fme/EN/Y2013/V8/I3/252
Fig.1  A Gough-Stewart platform for positioning the secondary mirror of the millimeter radio-telescope
Fig.2  The actual Gough-Stewart platform. (a) The built prototype; (b) a scheme with kinematic parameters (mm)
Fig.3  Actuator used for the platform
Fig.4  Main parts of the actuator
Fig.5  Calibration equipment RENISHAW ML10 consisting of leg (1), laser (2), and interferometer (3)
Fig.6  Schemes for layout of base (a) and moving (b) platforms
Posexyz
1-606040
2-6060-40
36060-40
4606040
5-60-6040
6-60-60-40
760-6040
860-6040
906040
10060-40
110-6040
120-60-40
1360040
14600-40
15-60040
16-600-40
17-60-600
1860600
19-60-600
20-60600
Tab.1  Points along the workspace
Fig.7  Difference between commanded position and actual position for actuator 1
Fig.8  Difference between commanded position and actual position for actuator 2
Fig.9  Difference between commanded position and actual position for actuator 3
Fig.10  Difference between commanded position and actual position for actuator 4
Fig.11  Difference between commanded position and actual position for actuator 5
Fig.12  Difference between commanded position and actual position for actuator 6
ActuatorRMS
15.22μm
22.15μm
36.53μm
42.36μm
54.49μm
64.97μm
Tab.2  RMS values of each actuator
Fig.13  Error comparisons between the Comprehensive and the Simplified Methods
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