Numerical Kinematics and Modeling of Parallel Robot as a Laser Calibration Instrument

Abstract

In this paper a Stewart parallel robot have been used with laser measurement system in purpose of assembling a system for measure dimensions of an objects which can be used in industrial metrology. MATLAB /GUI was used as simulation program for determining the upper plate , lower plate , servo arms and links dimensions to suite the workspace of the manipulator which have been selected according to the measured objects dimensions and the range of the laser system.The laser system have been mounted on the upper plate of the parallel manipulator. The workspace simulation was done with robot translational movement in the x-axis (-30,30) mm and in the y-axis (-30,30) and z(0,0) and at orientation (15,15,0) deg. The laser system measuring have been tested and verified by using scaled paper fixed on flat surfers. The theoretical results of desired movements compared with simulated and real movements or robot and its compatible agreed.