From a 3-DOF Parallel Redundant ARCHI Robot to an Auto-Calibrated ARCHI Robot

Abstract

This paper presents the modification of an existing planar parallel mechanism from actuation redundancy to kinematic redundancy. An additional joint is introduced in the initial mechanism in order to make the modification and to auto-calibrate the mechanism by measuring the displacement of this additional joint. The first simulation results are presented and a discussion about it is proposed as a conclusion.