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Title: |
Parallel robot design incorporating a direct end effector sensing system |
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Author: |
Ahmed Shaik, Nkgatho S. Tlale, Glen Bright 
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Address: |
Council for Scientific and Industrial Research, CSIR 0001, Pretoria, South Africa. ' Council for Scientific and Industrial Research, CSIR 0001, Pretoria, South Africa. ' School of Mechanical Engineering, UKZN-4001, Durban, South Africa |
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Journal: |
International Journal of Intelligent Systems Technologies and Applications 2008 - Vol. 4, No.3/4 pp. 368 - 385 |
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Abstract: |
For many parallel robots, the exact position in space of the end effector or tool head cannot be sensed directly. They operate under overall 'open loop' control as the software controlling the machine makes a calculated estimate of where the tool head should be. This is done by monitoring sensors on axes that track linear translation and rotations of shafts/gears. For low precision applications, this system is appropriate. However, positional errors can occur and accumulate. There exists a need for a sensor system that is capable of acquiring the exact spatial coordinates of the tool point or end effector directly. |
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Keywords: |
end effectors; parallel robots; positional errors; tool head; robot design; robot sensors; spatial coordinates; robot positioning. |
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DOI: |
10.1504/IJISTA.2008.017279 |
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