Department of Design and Manufacturing Engineering, Centro Politécnico Superior, University of Zaragoza, 50018 Zaragoza, Spain.
Sensors (Basel). 2010;10(11):10256-97. doi: 10.3390/s101110256. Epub 2010 Nov 16.
This paper presents an overview of the literature on kinematic and calibration models of parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel mechanisms used as sensors. The most relevant classifications to obtain and solve kinematic models and to identify geometric and non-geometric parameters in the calibration of parallel robots are discussed, examining the advantages and disadvantages of each method, presenting new trends and identifying unsolved problems. This overview tries to answer and show the solutions developed by the most up-to-date research to some of the most frequent questions that appear in the modelling of a parallel mechanism, such as how to measure, the number of sensors and necessary configurations, the type and influence of errors or the number of necessary parameters.
本文综述了关于并联机构运动学和校准模型、传感器对机构精度的影响以及将并联机构用作传感器的文献。讨论了获得和解决运动学模型以及识别校准中并联机器人的几何和非几何参数的最相关分类法，检查了每种方法的优缺点，提出了新的趋势并确定了未解决的问题。本综述试图回答并展示最新研究为解决一些在并联机构建模中经常出现的问题所开发的解决方案，例如如何测量、所需传感器的数量和配置、误差的类型和影响或所需参数的数量。
