Elasto-Geometrical Calibration of a Pantographic Linkage used as a Coordinate Measuring Arm for PKM Applications

M. Rognant and P. Maurine (France)


pantographic linkage, Coordinate Measuring Arm, elasto geometrical calibration, PKM


This paper presents the elasto-geometrical calibration of a pantographic linkage that can be used as a load compensation and Coordinate Measuring System (CMA) for PKM and parallel robots. The description of this linkage as well as its elasto-geometrical modeling are introduced first. Then, the different methods that are proposed to derive its calibration are presented and compared through intensive simulations. An optimal calibration process is then deducted and its efficiency to improve the CMA accuracy is shown.

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