A Clearance Approach of Kinematic Calibration and Error Compensation for 3-RRR Parallel Robot
For 3-RRR parallel robot, both geometrical dimensional error and joint clearance of component play a role in positioning accurately and precisely .In this investigation , based on the kinematic error model considering the joint clearance , these two error sources are both identifield through kinematic calibration and the influence of joint clearance on re-positioning error is analyzed .Then, the dimensional and residual errors are used to make up for the inverse kinematic model and the desired position command respectively , thus improving positioning accuracy . Finally, based on the clearance error model , the re-positioning precision is improved when the compensation for the influence of joint clearance is done .
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