Study on Abbe's Principle in 6 DOF Parallel Kinematics
Study on Abbe's Principle in 6 DOF Parallel Kinematics
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六自由度并联运动学阿贝原理研究
DOI：
10.1299/jsmemdt.2003.3.133
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
M. Tamaki
中科院分区：
文献类型：
--
作者：
T. Oiwa;M. Tamaki
传统的机床或由XYZ机构组成的三坐标测量机难以满足作为精密机构基础的阿贝原理。换句话说，标尺单元轴与加工点或测量点之间存在一定的偏移。然而，基于并联运动学的机床的加工点可以位于轴的延长线上。在本研究中，利用奇异值分解分析了关节误差对六足机构运动误差的影响。本文证明了该点不必位于六足位移台的直线上。由于采用了六个驱动支柱，因此不仅可以测量和驱动移动平台的位置，还可以测量和驱动移动平台的姿态。换句话说，六足机器人可以控制整个平台的位置和姿态。这样，即使加工点与延长线存在偏移，也能精确定位该点。因此，无论阿贝原理如何，六足位移台都能够实现精确的加工和测量。
Conventional machine tools or coordinate measuring machines consisting of XYZ mechanism have difficulty to satisfy the Abbe's principle which is the basis of the precision mechanism. In other words, there are some offsets between the scale unit axes and the machining point or the measuring point. However, the machining point of machines based on the parallel kinematics can be located in the extension lines of the axes. In this study, the effects of the joint errors on the motion error of Hexapod mechanism has been analyzed by using a singular value decomposition. In this paper, it is proved that the point don't have to be located in the lines in the Hexapod. Because six actuating struts are employed, not only positions but also attitudes of the moving platform are able to be measured and actuated. In other word, the Hexapod can control the whole positions and attitudes of the platform. Thus, even if any offset exists between the machining point and the extensional lines, the point can be positioned precisely. Consequently, Hexapod enables to realize accurate machining and measurement regardless of Abbe's principle.