Calibration of Parallel Manipulators and their Application to Machine Tools. A State of the Art Survey

Abstract

Some of the main investigations on calibration methods of parallel mechanisms are briefly discussed in thiswork. Initially, the identification of errors in these structures applied tomachine tools is presented, later the kinematics and the concept of parallelmechanisms calibration is introduced. Additionally, the main characteristics of the existing methods of calibration are discussed, such as the parametrical approaches, the calibration methods with internal/external measuring devices, innovative calibration methods and works that provide assistance to this aim.