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Calibration of parallel kinematic machine tools using mobility constraint on the tool center point

Abtahi, M ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. DOI: 10.1007/s00170-009-1994-y
  3. Publisher: 2009
  4. Abstract:
  5. In the application of parallel kinematic machine tools (PKM), because of errors in the geometric parameters, it is necessary to calibrate the PKM to improve the positioning accuracy. In existing self-calibration methods, either some redundant sensors on passive joints or some mobility constraints on the kinematic chains are used. However, the mobility constraints imposed on kinematic chains might apply large forces during the test on legs and passive joints. Also, these kinds of calibrating are applicable only on PKMs in which their actuated joints can be used as passive joints. To overcome weaknesses of existing methods, a novel approach to calibration based on imposing position constraints on the tool center point (TCP) is introduced. In this method, only the data of encoders installed on the actuated joints in some sets of configurations are required. In each set, the position of the TCP is fixed, but orientations of the tool are different. Simulations and experimental studies on a Hexaglide PKM built in Sharif University of Technology reveal the convenience and effectiveness of the proposed robot calibration method. © 2009 Springer-Verlag London Limited
  6. Keywords:
  7. Actuated joint ; Existing method ; Experimental studies ; Geometric parameter ; Geometric parameters ; Hexaglide ; Hexaglide manipulator ; Kinematic chain ; Parallel kinematic machine ; Parallel kinematic machine tools ; Passive joints ; Positioning accuracy ; Redundant sensors ; Robot calibration ; Self-calibration method ; Tool center points ; University of Technology ; Calibration ; Chains ; Flexible manufacturing systems ; Kinematics ; Manipulators ; Robotics ; Transmission control protocol ; Machine tools
  8. Source: International Journal of Advanced Manufacturing Technology ; Volume 45, Issue 5-6 , 2009 , Pages 531-539 ; 02683768 (ISSN)
  9. URL: https://link.springer.com/article/10.1007/s00170-009-1994-y