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Table 2 Kinematic parameters of the parallel manipulator (mm)

From: Kinematic Calibration of a Six-Legged Walking Machine Tool

  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