Table 2 Kinematic parameters of the parallel manipulator (mm)
From: Kinematic Calibration of a Six-Legged Walking Machine Tool
| Â | Nominal value | Identified value |
|---|---|---|
a1 | (24.465, 78.789, 0) | (25.197, 78.966, 0.150) |
b1 | (188.527, 173.511, −178.076) | (187.018, 172.224, −180.401) |
e1 | (0, 0, 1) | (0.0009, −0.0022, 1) |
l1 | 260 | 260.137 |
a2 | (−24.465, 78.789, 0) | (−24.621, 79.072, 0.135) |
b2 | (−188.527, 173.511, −178.076) | (−186.919, 173.674, −181.408) |
e2 | (0, 0, 1) | (0.0002, −0.0006, 1) |
l2 | 260 | 261.328 |
a3 | (−80.466, −18.208, 0) | (−81.139, −17.717, −0.166) |
b3 | (−244.529, 76.514, −178.076) | (−242.195, 76.437, −181.098) |
e3 | (0, 0, 1) | (0.0014, 0.0015, 1) |
l3 | 260 | 259.951 |
a4 | (−56.001, −60.582, 0) | (−56.157, −61.042, −0.029) |
b4 | (−56.002, −250.025, −178.076) | (−56.800, −248.027, −181.689) |
e4 | (0, 0, 1) | (−0.0016, 0.0002, 1) |
l4 | 260 | 260.309 |
a5 | (56.001, −60.582, 0) | (55.878, −61.432, −0.056) |
b5 | (56.002, −250.025, −178.076) | (55.208, −247.940, −181.469) |
e5 | (0, 0, 1) | (0.0027, 0.0010, 1) |
l5 | 260 | 259.796 |
a6 | (80.466, −18.208, 0) | (80.866, −18.312, 0.122) |
b6 | (244.529, 76.514, −178.076) | (243.099, 75.538, −181.038) |
e6 | (0, 0, 1) | (0.0000, −0.0003, 1) |
l6 | 260 | 260.876 |