Measurement of Movement Error and its Compensation for 6-DOF Parallel Mechanism Worktable

Zhang, Yuan Rui; Zhu, Jiang; Tanaka, Tomohisa; Saitō, Yoshio

doi:10.4028/www.scientific.net/kem.523-524.463

Cited by 2 publications

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“…In the previous studies, a parallel mechanism worktable with 6-DOF was developed [5,6]. To improve the positioning accuracy of 6-DOF parallel mechanism worktable, a calibration method using inverse kinematics was proposed by measuring the position and orientation of the worktable by CMM [7]. Some effects on the positioning accuracy were obtained.…”

Section: Introductionmentioning

confidence: 99%

Positioning Calibration of a Parallel Mechanism Worktable with 6-DOF

Zhang

Nagase

Zhu

et al. 2014

KEM

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In this study, a small 6-DOF (degree of freedom) parallel mechanism worktable for machine tool was developed. There are many factors that affect the positioning precision and the accuracy of the machine tool. The uncertainty in position is mainly due to the structural rigidity, the geometric error of the parts and the assembly errors. It is very difficult to estimate the assembly errors and the link parameter of each part. Moreover, it is necessary to make clear the relation of cross talk between each axis for parallel mechanism. In this research, a method to compensate the movement error of worktable based on the measurement result was proposed and discussed. First, in order to measure the positioning accuracy of the worktable a measuring method by using 3-dimensional coordinate measuring machine (CMM) was proposed. After the evaluation, the positioning accuracy of the parallel mechanism worktable, the error of each configuration parameter can be obtained. By the correction of the inverse kinematic program, the improvement of the positioning accuracy of the worktable was confirmed. After calibrating several times, the positioning error became stable within a constant range. It is confirmed that this method to obtain the parameter error is effective, and it is possible to improve the positioning accuracy.

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Section: Introductionmentioning

confidence: 99%