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A Kinematic Error Model for a Parallel Gantry-Tau Manipulator

Dressler, Isolde LU ; Brogårdh, Torgny and Robertsson, Anders LU (2010) International Conference on Robotics and Automation (ICRA2010) p.3709-3714
Abstract
Parallel robots are generally said to be more accurate but to have a smaller workspace compared to serial robots. With the Gantry-Tau robot, a parallel robot with a large, reconfigurable workspace was presented. This article tries to identify the maximum achievable end-effector positioning accuracy of the Gantry-Tau robot. To this end, a couple of new kinematic error models are presented and evaluated. The sources of the remaining positioning errors (0.09 mm) are discussed.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to conference
publication status
published
subject
pages
3709 - 3714
conference name
International Conference on Robotics and Automation (ICRA2010)
external identifiers
  • WOS:000284150002095
  • Scopus:77955801576
language
English
LU publication?
yes
id
87f928da-16f2-41ea-8fdb-43a945d49220 (old id 1627717)
date added to LUP
2010-07-08 08:51:50
date last changed
2016-10-13 04:56:26
@misc{87f928da-16f2-41ea-8fdb-43a945d49220,
  abstract     = {Parallel robots are generally said to be more accurate but to have a smaller workspace compared to serial robots. With the Gantry-Tau robot, a parallel robot with a large, reconfigurable workspace was presented. This article tries to identify the maximum achievable end-effector positioning accuracy of the Gantry-Tau robot. To this end, a couple of new kinematic error models are presented and evaluated. The sources of the remaining positioning errors (0.09 mm) are discussed.},
  author       = {Dressler, Isolde and Brogårdh, Torgny and Robertsson, Anders},
  language     = {eng},
  pages        = {3709--3714},
  title        = {A Kinematic Error Model for a Parallel Gantry-Tau Manipulator},
  year         = {2010},
}