Error compensation system for joints, links and machine frame of parallel kinematics machines

被引:21
作者
Oiwa, T [1 ]
机构
[1] Shizuoka Univ, Fac Engn, Dept Mech Engn, Hamamatsu, Shizuoka 4328561, Japan
关键词
parallel kinematics machine; error compensation; joint runout; joint deformation; frame deformation; thermal expansion; machine tool; coordinate measuring machine;
D O I
10.1177/0278364905060149
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This paper describes error compensation methods for parallel kinematics machines (PKMs). First, joint errors and link deformations caused by external forces and heat are discussed. Because a linear scale unit is connected to each spherical joint located at both ends of an extensible limb through two rods, the scale unit can measure not only displacement of the prismatic joint but also the limb's deformation. Moreover the scale unit also measures the joint's runout and its deformation in the limb's direction because the rod end is in contact with the sphere of the spherical joint. Consequently),, the unit accurately measures any change in the distance between the spherical joints independent of the external force. Further temperature fluctuation has little effect on measured distance because the rods are made of a low expansion alloys This device was built using experimental limbs and tested for use with coordinate measuring machines. Results showed that, without any additional sensor the device acquired the same effect; it improved the stiffness and the thermal coefficient of expansion of the whole limb. Secondly, another compensation method for elastic and thermal deformations of the machine frame supporting the mechanism is proposed. Nine displacement sensors with Super-Invar rods measure the distance between the surface place and three joint supports or the base platform of the PKM. Then, the forward kinematics of the hexapod mechanism calculates displacement and orientation variations of the base platform during operation from these measured displacements. Consequently, coordinates of the PKM's end-effector can be compensated by the dimensions, the displacement, and the orientation of the base platform during operation. This device was installed in the experimental coordinate measuring machine. Coordinate measurements using a master ball mounted on the surface plate showed that this device decreased the influences of temperature fluctuation and external force on machine accuracy
引用
收藏
页码:1087 / 1102
页数:16
相关论文
共 21 条
[1]   DESIGN OF A NEW ERROR-CORRECTED COORDINATE MEASURING MACHINE [J].
BRYAN, JB ;
CARTER, DL .
PRECISION ENGINEERING-JOURNAL OF THE AMERICAN SOCIETY FOR PRECISION ENGINEERING, 1979, 1 (03) :125-128
[2]   Self-calibration of a general hexapod manipulator with enhanced precision in 5-DOF motions [J].
Chiu, YJ ;
Perng, MH .
MECHANISM AND MACHINE THEORY, 2004, 39 (01) :1-23
[3]   A STEWART PLATFORM-BASED MANIPULATOR - GENERAL-THEORY AND PRACTICAL CONSTRUCTION [J].
FICHTER, EF .
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 5 (02) :157-182
[4]   A general and novel approach for parameter identification of 6-DOF parallel kinematic machines [J].
Huang, TA ;
Chetwynd, DG ;
Whitehouse, DJ ;
Wang, JS .
MECHANISM AND MACHINE THEORY, 2005, 40 (02) :219-239
[5]   Design and manufacture of composite high speed machine tool structures [J].
Lee, DG ;
Suh, JD ;
Kim, HS ;
Kim, JM .
COMPOSITES SCIENCE AND TECHNOLOGY, 2004, 64 (10-11) :1523-1530
[6]   ICA based thermal source extraction and thermal distortion compensation method for a machine tool [J].
Lee, DS ;
Choi, JY ;
Choi, DH .
INTERNATIONAL JOURNAL OF MACHINE TOOLS & MANUFACTURE, 2003, 43 (06) :589-597
[7]   DIRECT KINEMATICS AND ASSEMBLY MODES OF PARALLEL MANIPULATORS [J].
MERLET, JP .
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1992, 11 (02) :150-162
[8]   Coordinate measuring machine using parallel mechanism (5th report) -Kinematic calibration with three-dimensional ball plate [J].
Oiwa, Takaaki ;
Kyogoku, Masato ;
Yamaguchi, Kohki .
Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, 2002, 68 (01) :65-69
[9]  
Oiwa T., 2003, Journal of the Japan Society of Precision Engineering, V69, P222, DOI 10.2493/jjspe.69.222
[10]  
Oiwa T, 1997, INT J JPN S PREC ENG, V31, P232