Calibration device for parallel kinematic manipulator has sampler that can be fitted into manipulator and then moved relative to test piece having measurement points whose position and orientation are known

摘要

Parallel kinematic manipulator has a base unit (1) with a manipulator platform (2) that is movable relative to base unit by linkages (8a-8f,9a-9f) and actuators (3a-3f), the length of which can be altered. The calibration device is arranged to determine n distance differences from m unknowns in form of spatial coordinates. The device comprises a test piece (5) that can be mounted with a defined spatial relationship to the base unit (1) and that has l = m/n measurement plugs (5.1-5.6) arranged in known spatial positions with known orientation referred to a reference positions and reference orientations (5.R). The device also comprises a sampling unit (4) mounted in a matching receptor within the manipulator platform (2). Parts of the n part sampling system (4.1-4.6) are for relative measurement of the spatial position and orientation of the test piece (5).