Compensation of Gravity-Induced Errors on a Hexapod-Type Parallel Kinematic Machine Tool
Compensation of Gravity-Induced Errors on a Hexapod-Type Parallel Kinematic Machine Tool
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DOI：
10.1299/jsmec.47.160
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发表时间：
2004-03
期刊：
影响因子：
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通讯作者：
S. Ibaraki;Toshihiro Okuda;Y. Kakino;Masao Nakagawa;T. Matsushita;Tomoharu Ando
中科院分区：
文献类型：
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作者：
S. Ibaraki;Toshihiro Okuda;Y. Kakino;Masao Nakagawa;T. Matsushita;Tomoharu Ando
提出了一种基于Stewart平台的六足式并联机床重力误差补偿方法。与传统的串行运动进给驱动器不同，重力对并行运动进给驱动器的定位精度产生关键影响，并且其影响根据主轴的位置和方向而显着变化。首先，我们提出了一个运动学模型来预测由重力引起的支柱的弹性变形。在工具尖端的定位误差被给出为每个支柱的变形的叠加。通过对一台商用并联机床的实验验证，该机床的仿形误差通过补偿参考轨迹上的重力引起的误差而显著减小。
This paper presents a methodology to compensate contouring errors introduced by the gravity on a Hexapod-type parallel kinematic machine tool with the Stewart platform. Unlike conventional serial kinematic feed drives, the gravity imposes a critical effect on the positioning accuracy of a parallel kinematic feed drive, and its effect significantly varies depending on the position and the orientation of the spindle. We first present a kinematic model to predict the elastic deformation of struts caused by the gravity. The positioning error at the tool tip is given as the superposition of the deformation of each strut. It is experimentally verified for a commercial parallel kinematic machine tool that the machine's contouring error is significantly reduced by compensating gravity-induced errors on a reference trajectory.