Kinematic calibration on a parallel kinematic machine tool of the Stewart platform by circular tests
Kinematic calibration on a parallel kinematic machine tool of the Stewart platform by circular tests
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DOI：
10.23919/acc.2004.1386770
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发表时间：
2004
期刊：
影响因子：
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通讯作者：
S. Ibaraki;Takeshi Yokawa;Y. Kakino;Masao Nakagawa;T. Matsushita
中科院分区：
文献类型：
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作者：
S. Ibaraki;Takeshi Yokawa;Y. Kakino;Masao Nakagawa;T. Matsushita
提出了一种基于Stewart平台的六足并联机床运动学参数标定方法。与传统的串行运动进给驱动器的情况不同，在并行运动进给驱动器上，刀具位置和取向只能从伺服电机的角位置间接估计。因此，对并联进给机构进行高精度运动控制时，最关键的问题是如何标定支撑杆的基准长度和基础铰的位置等运动参数。本文提出了一种基于圆测试的标定方法，以测量机器在圆操作中的轮廓精度。为了优化并联进给驱动器在整个工作空间内的定位精度，重要的是通过使用专用夹具板来评估机器在圆形测试中的全局定位误差。在一台商用并联加工中心上进行了标定实验，验证了标定方法的有效性.
This work presents a methodology to calibrate kinematic parameters on a hexapod-type parallel kinematic machine tool of the Stewart platform. Unlike in the case of conventional serial kinematic feed drives, on parallel kinematic feed drives the tool position and orientation can be only indirectly estimated from angular position of servo motors. Therefore, for high-accuracy motion control of parallel kinematic feed drives, it is the most critical issue to calibrate kinematic parameters such as the reference length of struts and the location of base joints. This paper demonstrates a calibration method based on circular tests to measure the machine's contouring accuracy in a circular operation. To optimize the positioning accuracy of a parallel kinematic feed drive over the entire workspace, it is important to evaluate the machine's global positioning error in circular tests by using the specialized jig plate. The effectiveness of the calibration is experimentally validated on a commercial parallel kinematic machining center.