Hierarchical error model to estimate motion error of linear motion bearing table

This paper establishes position error model based on parallel robot kinematics theory, and analyses position error of the 3-TPS hybrid machine tool. Firstly, to calculate position error of the movable plate caused by the parallel mechanism links, through error model of the parallel mechanism which is established through inverse kinematics of the hybrid machine tool. Then, according to the error model of constraint mechanism established by transformation matrix method, the position error has been simulated and calculated. Finally, this paper compares the effects of both mechanisms. The analysis indicates the link error of constraint mechanism has more influence on movable plate posture than parallel mechanism, and provides help with motion error compensation and kinematic calibration.

Download Full-text

Mathematical modelling of linear motion error for Hexarot parallel manipulators

Applied Mathematical Modelling ◽

10.1016/j.apm.2015.07.004 ◽

2016 ◽

Vol 40 (2) ◽

pp. 942-954 ◽

Cited By ~ 25

Author(s):

Siamak Pedrammehr ◽

Mohammad Reza Chalak Qazani ◽

Hamid Abdi ◽

Saeid Nahavandi

Keyword(s):

Mathematical Modelling ◽

Parallel Manipulators ◽

Linear Motion ◽

Motion Error

Download Full-text

A Method of Calculating Motion Error in a Linear Motion Bearing Stage

The Scientific World JOURNAL ◽

10.1155/2015/696417 ◽

2015 ◽

Vol 2015 ◽

pp. 1-10

Author(s):

Gyungho Khim ◽

Chun Hong Park ◽

Jeong Seok Oh

Keyword(s):

Transfer Function ◽

Function Method ◽

Linear Motion ◽

Motion Error ◽

Form Errors ◽

Transfer Function Method ◽

Reaction Forces ◽

Good Agreement

We report a method of calculating the motion error of a linear motion bearing stage. The transfer function method, which exploits reaction forces of individual bearings, is effective for estimating motion errors; however, it requires the rail-form errors. This is not suitable for a linear motion bearing stage because obtaining the rail-form errors is not straightforward. In the method described here, we use the straightness errors of a bearing block to calculate the reaction forces on the bearing block. The reaction forces were compared with those of the transfer function method. Parallelism errors between two rails were considered, and the motion errors of the linear motion bearing stage were measured and compared with the results of the calculations, revealing good agreement.

Download Full-text

A Spatial Variant Motion Compensation Algorithm for High-Monofrequency Motion Error in Mini-UAV-Based BiSAR Systems

Remote Sensing ◽

10.3390/rs13173544 ◽

2021 ◽

Vol 13 (17) ◽

pp. 3544

Author(s):

Zhanze Wang ◽

Feifeng Liu ◽

Simin He ◽

Zhixiang Xu

Keyword(s):

Motion Compensation ◽

High Frequency ◽

Error Model ◽

Joint Estimation ◽

Synthetic Aperture ◽

Spatial Variance ◽

Motion Error ◽

Compensation Algorithm ◽

Aerial Vehicle ◽

Bistatic Synthetic Aperture Radar

High-frequency motion errors can drastically decrease the image quality in mini-unmanned-aerial-vehicle (UAV)-based bistatic synthetic aperture radar (BiSAR), where the spatial variance is much more complex than that in monoSAR. High-monofrequency motion error is a special BiSAR case in which the different motion errors from transmitters and receivers lead to the formation of monofrequency motion error. Furthermore, neither of the classic processors, BiSAR and monoSAR, can compensate for the coupled high-monofrequency motion errors. In this paper, a spatial variant motion compensation algorithm for high-monofrequency motion errors is proposed. First, the bistatic rotation error model that causes high-monofrequency motion error is re-established to account for the bistatic spatial variance of image formation. Second, the corresponding parameters of error model nonlinear gradient are obtained by the joint estimation of subimages. Third, the bistatic spatial variance can be adaptively compensated for based on the error of the nonlinear gradient through contour projection. It is suggested based on the simulation and experimental results that the proposed algorithm can effectively compensate for high-monofrequency motion error in mini-UAV-based BiSAR system conditions.

Download Full-text

Motion Control of Rolling Ball by Operating the Working Plate with a Dual-Arm Robot

International Journal of Automation Technology ◽

10.20965/ijat.2012.p0075 ◽

2012 ◽

Vol 6 (1) ◽

pp. 75-83 ◽

Cited By ~ 4

Author(s):

Wei Wu ◽

◽

Toshiki Hirogaki ◽

Eiichi Aoyama ◽

Keyword(s):

Rotational Motion ◽

Manufacturing Systems ◽

Present Report ◽

Circular Path ◽

Stable Operation ◽

Linear Motion ◽

Motion Error ◽

Rolling Ball ◽

Ball Rolling ◽

Dual Arm

Recently, new needs have emerged to control not only linear motion but also rotational motion in high-accuracy manufacturing fields. Many five axiscontrolled machining centers are therefore in use. However, one problem has been that it may be difficult to achieve flexible manufacturing systems by methods based on the use of these machine tools. On the other hand, industrial dual-arm robots have gained attention as new tools to control both linear motion and rotational motion accurately, in the attempt to control a working plate like a machine tool table. In the present report, cooperative dual-arm motion is demonstrated to make it feasible to perform stable operation control, such as controlling the working plate to keep a ball rolling in a circular path on it. As a result, we investigated the influence of each axis motion error on a ball-rolling path.

Download Full-text

Geometric and Motion Error Model and Precision Analysis of Multiaxial EDM

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.742.631 ◽

2015 ◽

Vol 742 ◽

pp. 631-635

Author(s):

Min Wang ◽

Qiang Zhou ◽

Jian Yong Liu ◽

Li Jun Zhai

Keyword(s):

Coordinate Transformation ◽

Error Model ◽

Body System ◽

Location Error ◽

Precision Analysis ◽

Motion Error ◽

Error Equation ◽

Precision Design ◽

Multi Body

The precision of Multiaxial EDM is improved by a geometric and motion error model of EDM. A lower numbered body array is introduced to describe the EDM with a homogeneous coordinate transformation used to model the geometric and motion errors of a typical body in the multi-body system. Multi-body kinematics are employed to derive the structural and motion relations and the corresponding location error equation。 The motion error chain for the EDM is analyzed to develop a versatile error model. An entire Multiaxial EDM is analyzed as an example to determine its errors. The method provides a reference for Multiaxial EDM precision design.

Download Full-text

Transmission system accuracy optimum allocation for multiaxis machine tools’ scheme design

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406213479723 ◽

2013 ◽

Vol 227 (12) ◽

pp. 2762-2779 ◽

Cited By ~ 11

Author(s):

Sarina ◽

Shuyou Zhang ◽

Jinghua Xu

Keyword(s):

Genetic Algorithm ◽

Machine Tools ◽

Transmission System ◽

Error Model ◽

Numerical Control ◽

Optimum Allocation ◽

Design Stage ◽

Manufacturing Cost ◽

Motion Error ◽

Error Matrix

Transmission components are the main mechanical elements in a machine system, the accuracy level of the transmission system is one of the major sources of the machining error of multiaxis machine tools. This article investigates motion error analysis, volumetric motion error model for transmission system and the accuracy allocation method for multiaxis machine tools during the early design stage. For this purpose, a transmission system volumetric motion error model, which is based on the motion error matrix and screw theory, is derived for mapping transmission components’ error parameters to the volumetric motion errors of machine tools. The volumetric motion error matrix combines motion errors along the machine tools’ kinematic chains. Subsequently, the volumetric motion error model is expressed as a volumetric motion error twist, which is formulated from the volumetric motion error matrix. Additionally, the transmission system volumetric motion error twist model is used as design criteria for accuracy optimum allocation, with constraints on the twist magnitude and design variable limits. Then, design optimization is performed by using a multiobjective nonlinear optimization technique to minimize the manufacturing cost and volumetric motion error twist pitch. To solve this multiple objective optimum problem, this study proposes an approach integrating Lagrange multiplier and gradient descent operator with non-dominated sorting genetic algorithm-II (NSGA-II). Modified non-dominated sorting genetic algorithm-II searches for an allocation scheme Pareto optimal front. Consequently, VlseKriterijumska Optimizacija I Kompromisno Resenje (VIKOR) determines the best compromise solution from the Pareto set. Finally, a numerical experiment for the optimal design of a numerical control machine tool is conducted, which highlights the advantages of the proposed methodology.

Download Full-text