Kinematic calibration of a class of parallel kinematic machines (PKM) with fewer than six degrees of freedom
Kinematic calibration of a class of parallel kinematic machines (PKM) with fewer than six degrees of freedom
复制标题
DOI：
10.1360/02ye0277
复制
发表时间：
2003-10
期刊：
影响因子：
--
通讯作者：
Tian Huang;G. Tang;Siwei Li;Ya Li;G. Chetwynd;J. D. Whitehouse
中科院分区：
文献类型：
--
作者：
Tian Huang;G. Tang;Siwei Li;Ya Li;G. Chetwynd;J. D. Whitehouse
以三自由度平动铣床为例，研究了六自由度以下并联机床系统的运动学标定问题。误差映射函数的制定，在这样一种方式，几何误差影响的可补偿和不可补偿的位姿误差可以分开。在前人研究的基础上，提出了一种几何误差的分级识别方法。提出了一种特别适用于具有平移运动能力的并联机床系统的补偿策略。通过实验验证了该方法的有效性，实验结果表明，该方法能够显著提高目标识别的准确性。
By taking a 3-DOF translational milling machine as an example, this paper investigates the kinematic calibration of PKM systems with fewer than 6-DOF. The error mapping function is formulated in such a way that the geometric errors affecting the compensatable and uncompensatable pose errors can be separated. Based upon the previous investigation, a hierarchical approach to the geometric error identification is proposed. The compensation strategy is developed which is particularly suitable for the PKM systems with translational moving capability. The experiment has been carried out to verify the effectiveness of the proposed approach and the results show that the accuracy can be significantly improved.