Kinematic analysis of the wire parallel mechanism for full coordinate measuring of industrial robot

Abstract

This paper presents a wire parallel mechanism for full coordinate measuring of industrial robot. The mechanism is constructed with six parallel wires that act as links. The position and orientation of a robot end-effector are obtained from the wire lengths. The equations of the forward kinematics are solved by a Newton-Raphson method, and the unique solution is determined from the geometric configuration of the mechanism. A method to estimate the workspace is presented. Through simulations, it is verified that the proposed mechanism can measure a robot pose over a large workspace, and can be used effectively for full coordinate measuring of a robot with little cost and effort.