Enhanced Kinematic Calibration of a 4PPa-2PaR Parallel Manipulator with Subchains
Jingbo Luo, Si-Lu Chen, Antoine Ferreira, Jianhui He, Dexin Jiang, Xiangjie Kong, Yiyang Feng, Zaojun Fang
Abstract
This paper proposes an innovative virtual chain-based kinematic calibration for the 4PPa-2PaR parallel manipulators with subchain architectures. Conventional calibration methods for such architectures suffer from inherent limitations due to coupled parameter constraints and restricted solution spaces caused by joint displacement and structural parameter dependencies. The presented methodology introduces three fundamental advancements: (1) a novel parameter assignment strategy enabling independent joint/link parameter definition across different kinematic chains, (2) systematic transformation of constrained optimization into an unconstrained one, and (3) significant expansion of error parameter solution space through virtual chain modeling. Comparative experiment on the physical prototype demonstrate improvements in both orientation and position accuracy compared to existing methods.
BibTeX
@inproceedings{iros2025_enhancedkinemati,
title = {Enhanced Kinematic Calibration of a 4PPa-2PaR Parallel Manipulator with Subchains},
author = {Jingbo Luo and Si-Lu Chen and Antoine Ferreira and Jianhui He and Dexin Jiang and Xiangjie Kong and Yiyang Feng and Zaojun Fang and Tianjiang Zheng and Chi Zhang and Guilin Yang},
booktitle = {IROS 2025},
year = {2025}
}