Effective geometrical calibration of a delta parallel robot used in neurosurgery

Abstract

The increasing applications of parallel robots in domains such as medical or machine-tools require a high accuracy. As a result, the geometrical calibration of these mechanisms becomes a major step to reach the expected accuracy. An effective and simple calibration method based on 1D and 3D measurements of a new low cost artifact is presented and then validated on the Surgiscope/spl reg/, a structure based on a delta parallel robot used in neurosurgery.