Design and accuracy evaluation of high-speed and high precision parallel mechanism

摘要

We have developed a precise and high-speed arm applied to assembly processes in electrical product and machine industries. The arm is designed based on the requirement from Japanese major industries. The paper addresses the background of the development, the required specification for the robot arm, and the brief introduction of the prototype arm and evaluations of accuracy. We test the repeatability of parallel mechanism. Then we calibrate the kinematic model of parallel mechanism to improve its absolute accuracy using laser tracking coordinate measuring system.