Title: Parallel robot design incorporating a direct end effector sensing system

Authors: Ahmed Shaik, Nkgatho S. Tlale, Glen Bright

Addresses: 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

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.

Keywords: end effectors; parallel robots; positional errors; tool head; robot design; robot sensors; spatial coordinates; robot positioning.

DOI: 10.1504/IJISTA.2008.017279

International Journal of Intelligent Systems Technologies and Applications, 2008 Vol.4 No.3/4, pp.368 - 385

Available online: 22 Feb 2008 *

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