Kinematic calibration of gantry hybrid machine tool based on estimation error and local measurement information
Kinematic calibration of gantry hybrid machine tool based on estimation error and local measurement information
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DOI：
10.1007/s00170-003-1999-x
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发表时间：
2005-08
期刊：
影响因子：
--
通讯作者：
Xiaoqiang Tang;Jinsong Wang;Meng Gao
中科院分区：
文献类型：
--
作者：
Xiaoqiang Tang;Jinsong Wang;Meng Gao
本文提出了基于新型平面三自由度并联机构和工作台长运动的四自由度混合机床的运动学校准。针对并联机构的逆运动学和正运动学开发了封闭式解决方案。建立误差模型并考察机构精度。通过简单的测量装置提出了两种类型的运动校准方法。第一类标定方法是基于估计误差的，通过估计误差趋势，可以轻松快速地提高机床精度。第二种运动学标定方法是基于局部测量信息，包括机床的位置误差，不包括位姿误差。标定试验表明了该标定方法的有效性，对同类并联机床具有一定的参考价值。
This paper presents the kinematic calibration of a four degrees-of-freedom (DOF) hybrid machine tool based on a novel planar 3-DOFs parallel mechanism and a long movement of the worktable. Closed-form solutions are developed for both the inverse and direct kinematics about the parallel mechanism. The error model is built and the mechanism accuracy is investigated. Two types of kinematic calibration method are proposed by a simple measurement device. The first type of calibration method is based on estimation error, and can easy improve the machine tool accuracy quickly by estimating the error trends. The second type of kinematic calibration method is based on local measurement information, which includes the position errors and does not include the pose errors of the machine tool. The calibration tests showed the effectiveness of the calibration methods, which can be useful for the similar types of parallel machine tool.