並聯式機器人的精度受到許多因素影響，其中以製造誤差及安裝誤差為動平台位置誤差之主要來源。為了使機器人之絕對精度提升，提高平台之機械加工、安裝精度為一方法，但會使成本提高許多。目前大多以機器人運動學參數之校準為主，以求出真實之幾何參數。
而參數校準又分兩類:一類為自我校準法;另一類為傳統校準法。自我校準法需安裝冗餘的內部感測器，或者對被動關節多加物理約束，因此在設計階段需考慮感測器之安裝，且增加感測器也會增加更多需要校準之參數。而傳統校準法需以外部量測設備量測動平台之數據，以運動學配合數值法求解運動學參數。
本文提出方法校準三種最常用之並聯式機器人，包含六自由度史都華型，六自由度Delta型及三自由度平移型Delta機器人，校準其運動學參數，對原設計參數進行補償，再以補償之真實參數進行正、反位移分析，證實此方法確實可提高其絕對精度。且探討其參數相依之現象，文中並對於並聯式機器人之設計、製作提出一些建議，以增加校準後之精度並降低以後校準之成本。

Manufacturing errors and assembling errors are two of the most important factors that affect the accuracy of a parallel manipulator. Upgrading the machining and assembling process, in theory, can reduce the errors, but the cost of a manipulator can significantly increase. Therefore, the approach of finding the real dimensions by calibration methods is commonly used to improve the accuracy of a manipulator.
There are two types of calibration: self-calibration and traditional -calibration. Self-calibration needs extra sensors or imposes some physical constraints on the passive joints, so it is more complicated and expensive to develop a self-calibration manipulator. Besides, there are more parameters to be calibrated. Traditional-calibration measures different positions and orientations of the moving platform and then determines the real link dimensions of a manipulator by solving a system of nonlinear equations.
This thesis proposes methods to calibrate three types of parallel manipulators: 6-DOF Stewart manipulators, 6-DOF Delta manipulators and 3-DOF Delta manipulators. The calibration results are evaluated using direct and inverse kinematics. It shows that the accuracy of the manipulator with the new dimensions is significantly improved. The effect of coupling of the variables in related equations is studied, and how to design a manipulator that is easier to be calibrated is also investigated.

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