Education Software for the Modelling and Calibration of Kinematic Mechanisms

This paper presents a new software for teaching the most important aspects of modelling, characterization and calibration of parallel mechanisms by means of the kinematic model, the kinematic parameter identification and the control of the system actuators and sensors. This application allows the student to develop competencies such as analysis and synthesis, to solve problems, research skills and to apply their knowledge.The developed tool presents a special interest in areas such as education, industry and research, since the application interface allows the user to carry out the different steps of the calibration procedure in an easy way. Besides, only one application is necessary to perform all the procedure for data acquisition and kinematic parameter identification.Moreover, thanks to the flexibility that the developed software offers in the programming, a senior undergraduate student can modify different algorithm variables and analyze the effects that take place with these changes. This application therefore presents an important utility as a teaching tool for the learning process and analysis of the different steps in the parallel mechanism optimization.