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Kinematic Calibration of a Parallel Mechanism Machine Tool

并联机构机床的运动标定

基本信息

批准号：
15560094
负责人：
IBARAKI Soichi
金额：
$ 2.5万
依托单位：
Kyoto University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2004
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15560094/
关键词：
Parallel kinematic machine tool Calibration Kinematic parameter Circular tests Positioning error

项目摘要

Although more than ten years have been passed since the first parallel kinematic machine tool was introduced, they are not widely accepted in today's industry. Many parallel kinematic machine tools available in the today's market have issues in their stiffness against external forces and motion accuracy compared with conventional serial kinematic orthogonal-axes machine tools. We conducted the following researches in order to improve the motion accuracy of a parallel mechanism machine tool mainly from the viewpoint of its motion control.1)Compensation of motion errors caused by the gravity.On a parallel mechanism machine tool, since its spindle unit is supported only by six struts, the deformation of its mechanical structures caused by the gravity has a large effect on its positioning accuracy. In order to accurately predict and compensate such a gravity-induced motion error, a model of the parallel kinematics was proposed and improved.2)Improvement of a calibration method of kinematic parametersFor high-accuracy motion control of parallel kinematic feed drives, it is the most critical issue to calibrate various kinematic parameters such as the reference length of struts or the location of base joints. A calibration method based on circular tests to measure the machine's contouring accuracy in a circular operation has been proposed. We proposed the improved calibration methodology under the cancellation of gravity-induced errors, such that only the calibration error of kinematic parameters can be evaluated in the calibration process. By applying 1) and 2), it was validated by using a commercial parallel mechanism machine tool that the motion error was reduced to less than 20 μm over the entire workspace, which the motion error was as large as 200 μm without the proposed schemes when the spindle is near an edge of the workspace and/or the tilt angle of a spindle is large.

虽然从第一台并联机床问世到现在已经有十多年的时间了，但在当今的工业中，并联机床并没有被广泛接受。与传统的串联运动正交轴机床相比，当今市场上可用的许多并联运动机床在其抵抗外力的刚度和运动精度方面存在问题。为了提高并联机床的运动精度，我们主要从运动控制的角度进行了以下研究：1）重力引起的运动误差的补偿。在并联机床上，由于主轴单元仅由6个支柱支撑，因此重力引起的机械结构的变形对其定位精度有很大的影响。为了准确预测和补偿这种重力引起的运动误差，提出并改进了并联机构的运动学模型。2）运动学参数标定方法的改进对于并联进给机构的高精度运动控制，最关键的问题是标定各种运动学参数，如支柱的参考长度或基关节的位置。本文提出了一种基于圆周试验的标定方法，用以测量机床在圆周运动中的轮廓精度。提出了一种消除重力误差的改进标定方法，使得标定过程中只考虑运动学参数的标定误差。在一台商用并联机床上进行了实验验证，结果表明，当主轴靠近工作空间边缘或主轴倾角较大时，运动误差可达200 μ m，而采用上述方案时，整个工作空间的运动误差可减小到20 μ m以下。

项目成果

期刊论文数量（34）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Compensation of Gravity-Induced Errors on a Hexapod-Type Parallel Kinematic Machine Tool

DOI：
10.1299/jsmec.47.160
发表时间：
2004-03
期刊：
Jsme International Journal Series C-mechanical Systems Machine Elements and Manufacturing
影响因子：
0
作者：
S. Ibaraki;Toshihiro Okuda;Y. Kakino;Masao Nakagawa;T. Matsushita;Tomoharu Ando
通讯作者：
S. Ibaraki;Toshihiro Okuda;Y. Kakino;Masao Nakagawa;T. Matsushita;Tomoharu Ando

Masao Nakagawa: "Compensation of Gravity-induced Errors on Hexapod-type Parallel Mechanism Machine Tools"Proc.of the International Conference on Leading Edge Manufacturing in 21st Century. 619-624 (2003)

中川正雄：“六足并联机构机床重力引起的误差补偿”21世纪前沿制造国际会议论文集。