Stiffness estimation of a parallel manipulator using image analysis and camera calibration techniques

被引：6

作者：

Gonzalez-Hernandez, Abraham ^{[1
]}

Castillo-Castaneda, Eduardo ^{[1
]}

机构：

[1] CICATA Unidad Queretaro, Inst Politecn Nacl, Queretaro 76090, Mexico

来源：

ROBOTICA | 2013年 / 31卷

关键词：

Stiffness; Parallel manipulator; Camera calibration; Image analysis;

D O I：

10.1017/S0263574712000641

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This work presents a methodology using image analysis to estimate the experimental stiffness of a parallel robot, Parallix LKF-2040, a 3-degree-of-freedom manipulator. The proposed methodology has a simple implementation and can be applied to different architectures of parallel robots. This methodology uses image analysis and camera calibration techniques to estimate compliant displacements of mobile platform produced by several loads at the end effector level, and calculate stiffness in a specific position of mobile platform. Experimental results are presented for different positions within the workspace.

引用

页码：657 / 667

页数：11

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