The direct-error-compensation method of measuring the error of a six-freedom-degree parallel mechanism CMM

Meng, Zhenyu; Che, Rensheng; Huang, Qingcheng; Yu, Ze

doi:10.1016/s0924-0136(02)00643-x

Cited by 17 publications

(8 citation statements)

References 2 publications

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“…The contact mode of each joint is determined by the internal forces which are calculated by substituting the external load into equations (9), (10), and (11), respectively. For the prismatic joint contact modes, the local errors are established by substituting the joint dimensions and clearances into equation (14), (16), (18), (20), or (22); for the revolute joint contact modes, the local errors are obtained by using equation 24, (26), (29), (31), or (34). Lastly, the volumetric error of the sampler can be calculated by adding the structural parameter error to the joint clearance error.…”

Section: Error Analysis Of the Lunar Samplermentioning

confidence: 99%

“…Meng et al. 18 deduced the relationship between the machine errors and the output errors based on the inverse kinematics and complete differential-coefficient theory. Another kind of constraint method was presented by Ren et al.…”

Section: Introductionmentioning

confidence: 99%

“…Till now, many different methods have been presented. Meng et al 18 deduced the relationship between the machine errors and the output errors based on the inverse kinematics and complete differential-coefficient theory. Another kind of constraint method was presented by Ren et al 19 who had derived the orientation constraint by keeping two attitude angles of the end-effector constant in the calibration.…”

Section: Introductionmentioning

confidence: 99%

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Error modeling of a novel flexible lunar sampler

Ling

Ehmann

Song

2016

Proceedings of the Institution of Mechanical Engineers, Part G:

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A lunar sampler plays the critical role and is of great importance in lunar explorations. In this paper, an error model was established for a novel flexible lunar sampler which has low weight, small volume, large workspace, and low power consumption. Based on its specific configuration, the forward and inverse kinematic models and the kinetostatic model are developed to formulate the volumetric error model of the mechanism. The error model is built by considering three classes of error sources: flexibility-induced errors, structural parameter-induced errors, and joint clearance errors. The flexible errors are compensated according to the experimental data; the second class of errors are modeled based on complete differential-coefficient theory, while the third class of errors are modeled based on the deterministic method. For the third class in error modeling, contact modes are introduced to build a joint clearance-induced error model. The relationship between different error sources and the output pose error of the sampling head is obtained. Finally, the error distribution in the workspace is evaluated.

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Section: Error Analysis Of the Lunar Samplermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Error modeling of a novel flexible lunar sampler

Ling

Ehmann

Song

2016

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…The fact that the errors are not cumulative and amplified is one of the major advantages of parallel CMMs over the traditional serial CMMs [5]. Nonetheless, the positioning accuracy of parallel mechanisms is usually limited by many other errors, some authors identified the errors affecting the precision of parallel mechanisms as follows [5][6][7][8]: manufacturing errors, assembly errors, errors resulting from distortion by force and heat, control system errors and actuators errors, calibration, and even mathematical models. However, the main disadvantage of parallel CMMs is the limited workspace [9][10][11], and the difficulty of their motion control due to singularity problems [5], [11].…”

Section: Introductionmentioning

confidence: 99%

Modelling and Analysis of the Geometrical Errors of a Parallel Manipulator Micro-CMM

Rugbani

Schreve

2012

Precision Assembly Technologies and Systems

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Part 3: Tolerance Management and Error Compensation MethodsInternational audienceA micro coordinate measurement machine (micro-CMM) with high precision and high accuracy is introduced for the measurement of part dimensions in micro scale. This design is intended to achieve submicron resolution for a work envelop of at least (100x100x100) mm. In this study, a mathematical measuring model to explicitly define the coordinate of the probe in x, y and z directions have been represented. An algorithm to find the workspace was implemented. The error model of the machine was created and the effect of structural errors on probe position was studied analytically. The significance of each geometric parameter was studied in order to minimize the measuring error and achieve the best machine design. Finally, the results of the analytical error model were confirmed through a Monte Carlo analysis

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“…With further development of robot applications, considering the expenditure and the need for operational DOF and the range of motions of various sensors, the choice of robots, designed for applications in the field of precision manufacture [1,2], medical instruments [3,4] and coordinate measuring machine [5], was made in favor of the lower-mobility parallel manipulators. But due to the inevitable manufacturing and assembly tolerances, the kinematic parameters of the fixed end effectors on the parallel manipulators are always inaccurate.…”

Section: Introductionmentioning

confidence: 99%

Sensitivity analysis and kinematic calibration of 3-UCR symmetrical parallel robot leg

2011

J Mech Sci Technol

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Based on the complete differential-coefficient theory, the model of the pose errors expressed by the Rodrigues Parameters was established. By normalizing all error sources, the statistical model of sensitivity coefficients was obtained. Considering the sensitivity percentages, a kinematic calibration model with the successive approximation algorithm was achieved. The simulation shows that the algorithm is effective to study the calibration question and has concrete directivity, reducing the kinematic errors with high sensitivity percentage when optimizing iteratively.

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The direct-error-compensation method of measuring the error of a six-freedom-degree parallel mechanism CMM

Cited by 17 publications

References 2 publications

Error modeling of a novel flexible lunar sampler

Error modeling of a novel flexible lunar sampler

Modelling and Analysis of the Geometrical Errors of a Parallel Manipulator Micro-CMM

Sensitivity analysis and kinematic calibration of 3-UCR symmetrical parallel robot leg

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