文档介绍：Mechanism and Machine Theory 44 (2009) 1318–1320
Contents lists available at ScienceDirect
Mechanism and Machine Theory
journal homepage: ate/mechmt
munication
Manipulator calibration enhancement by means of mechanical templates
M. Leonesio *, G. Bianchi
ITIA – CNR, Lombardia, 20/A, 20131 Milano, Italy
article info abstract
Article history: Machines assembly procedures usually make use of some kind of references (for instance
Received 17 June 2008 mechanical templates, or some kind of artefact, or simply locators holes on machine table)
Received in revised form 5 August 2008 in order to assure a precise end-effector positioning at least in the assembly position (also
Accepted 7 August 2008
called, zero position or home position) [R. Ramesh, . Mannan, pensation in
Available online 16 October 2008
machine tools – a review. Part I: geometric, cutting-force induced and fixture-dependent
errors, International Journal of Machine Tools and Manufacture, 40 (9) (2000), 1235–
1256]: then, such an accurate positioning is exploited during the set-up phase to perform
Keywords:
actuators pensation. This approach is usually adopted both for manipulators
Calibration
Manipulators (above all Parallel Kinematic ones) and for Cartesian machine tools.
Mechanical templates In this munication, a new calibration strategy is suggested in order to allow the
Total le