Kinematic calibration of a 3-DOF spindle head using a double ball bar

Tian, Wenjie; Yin, Fuwen; Liu, Haitao; Li, Jinhe; Li, Qing; Huang, Tian; Chetwynd, D. G.

doi:10.1016/j.mechmachtheory.2016.04.008

Cited by 32 publications

(10 citation statements)

References 21 publications

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“…Geometric accuracy is a critical performance factor for lower-mobility parallel mechanisms, especially when relatively high precision is one of the fundamental demands. 5 Regardless of kinematic calibration, 6,7 a process when estimating the actual kinematics such that the inverse kinematic model stored in the computerized numerical control controller can be modified, accuracy design is another way to ensure the pose accuracy of robot in the design stage. Tolerance allocation is a process of determining which tolerances should be allocated tight values and how much tolerance is allocated; it depends mainly on the experience of the designer; therefore, how to obtain a more reasonable allocation or to provide designers with informative guidelines for accuracy design is a challenging issue.…”

Section: Introductionmentioning

confidence: 99%

A Systematic Approach for Accuracy Design of Lower-Mobility Parallel Mechanism

Tian¹,

Shen²,

Lv³

et al. 2020

Robotica

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SUMMARY Geometric accuracy is a critical performance factor for parallel robots, and regardless of error compensation, accuracy design or tolerance allocation is another way to ensure the pose accuracy of a robot at design stage. A general method of both geometric error modeling and accuracy design of lower-mobility parallel mechanisms is presented. First, a general approach for error modeling of lower-mobility parallel mechanism is proposed based on screw theory, and then the geometric errors affecting the compensatable and uncompensatable accuracy of the end-effector are separated using the properties of dual vector space. The pose error aroused by compensatable geometric errors can be compensated via kinematic calibration, while the uncompensatable geometric errors should be minimized during the manufacturing and assembly processes. Based on that, the tolerance allocation method is presented, giving each uncompensatable geometric error a proper tolerance by the use of reliability theory. Compared with the traditional tolerance allocation method, the advantages of the proposed method are as follows: the number of geometric errors to be allocated is greatly reduced; the results of serialized tolerance allocation can be obtained according to different reliability indices of pose accuracy of end-effector for designers to choose; on the premise of guaranteeing the same pose accuracy of end-effector, the allocated tolerances are loose and easy to realize. Finally, the proposed methods are successfully applied to an R(2-RPS&RP)&UPS lower-mobility parallel robot, and the effectiveness and practicability of the proposed method are verified.

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Section: Introductionmentioning

confidence: 99%

A Systematic Approach for Accuracy Design of Lower-Mobility Parallel Mechanism

Tian¹,

Shen²,

Lv³

et al. 2020

Robotica

Self Cite

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“…The commonly used approaches include the Newton-Gauss method [12], the Levenberg-Marquardt (L-M) algorithm [13], neural networks (NN) [14], genetic algorithms [15], and many others. However, because most geometric source errors are much smaller than their associated dimensions, the most common practice is to use linear least squares for dealing with error parameter identification of robotic mechanisms [16][17][18][19][20]. The procedure involves first formulating a linearized map between the pose error twist and all the possible source errors at the link/joint level.…”

Section: Introductionmentioning

confidence: 99%

Kinematic calibration of a 6-DOF hybrid robot by considering multicollinearity in the identification Jacobian

Huang

Zhang

Yin

et al. 2019

Mechanism and Machine Theory

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“…It can be used to generalise lower-mobility parallel manipulators. Tian et al 31 used this approach to a 3-RPS parallel spindle head, but this method cannot realise the rapid and effective separation of error sources when it is used on a hybrid machine tool. Therefore, it is essential to establish a comprehensive error model which can distinguish the compensable error sources from those non-compensable error sources affecting the positional accuracy of the endeffector.…”

Section: Introductionmentioning

confidence: 99%

A manufacturing-oriented error modelling method for a hybrid machine tool based on the 3-PRS parallel spindle head

Song

Zhiwen

et al. 2019

Advances in Mechanical Engineering

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Five-axis hybrid machine tools are widely used due to the advantages of high speed, high precision, and good performance in the aviation and aerospace manufacturing industry. Many scholars have studied the basic theories and key technologies along with the widespread attention of academia and industry thereon. An integrated geometric error modelling method, under the unified coordinate system framework for a general five-axis hybrid machine tool based on a 3-PRS parallel spindle head, is proposed. The kinematic inverse model of a hybrid machine tool is built using a vector chain method. On the basis of the analysis of the various error sources, an integrated geometric error model is developed based on perturbation theory. Then, the influence of each error source of a hybrid machine tool is investigated at the end-effector. Screw theory is applied to research error source separation for the 3-PRS parallel spindle head of a hybrid machine tool, and a sensitivity analysis of the error sources is undertaken using statistical methods. Based on this, the compensable error sources and non-compensable error sources of a hybrid machine tool are separated successfully. The non-compensable error sources must be strictly controlled in the process of design and manufacture, while the compensable error sources can be compensated inexpensively by software after reaching some degree of accuracy in the design and manufacture. This research provides a theoretical reference for this kind of machine tool design and its use in manufacturing.

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Kinematic calibration of a 3-DOF spindle head using a double ball bar

Cited by 32 publications

References 21 publications

A Systematic Approach for Accuracy Design of Lower-Mobility Parallel Mechanism

A Systematic Approach for Accuracy Design of Lower-Mobility Parallel Mechanism

Kinematic calibration of a 6-DOF hybrid robot by considering multicollinearity in the identification Jacobian

A manufacturing-oriented error modelling method for a hybrid machine tool based on the 3-PRS parallel spindle head

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