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New approach for accuracy and kinematics analysis of 2 DOF medical parallel robot

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5 Author(s)
Szep, C. ; Dept. of Mechatron., Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania ; Stan, S. ; Csibi, V. ; Manic, M.
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In the latest years, parallel robots can be find in many applications in industry, medical environment. Many can characterize these applications with parallel robots in a few words: high precision, dynamic movements and large workspace. In this paper it is presented an analysis about the kinematics problems of parallel robots, the errors calculated with Jacobian matrix and the workspace of a 2-DOF parallel robot. Practical methods of kinematics' calibration make use of the linear differential error of the kinematics' model. This model is based on the Jacobian of the direct kinematics' model with respect to parameters of this model. The robot accuracy can be defined as a measure of robot ability attains a required position with respect to a fixed absolute reference coordinate frame. Then, the accuracy can be defined as the ability of the robot that can respect with strictness a trajectory and the final positioning it will be in a exact point.

Published in:

Digital Ecosystems and Technologies, 2009. DEST '09. 3rd IEEE International Conference on

Date of Conference:

1-3 June 2009