Kinematic calibration of a 5-DoF parallel kinematic machine

2016 ◽  
Vol 45 ◽  
pp. 242-261 ◽  
Author(s):  
Yimin Song ◽  
Jiateng Zhang ◽  
Binbin Lian ◽  
Tao Sun
Keyword(s):  
Kinematic Calibration ◽  
Parallel Kinematic Machine ◽  
Parallel Kinematic

1321 A Kinematic Calibration Method under the Cancellation of Gravity-induced Errors on a Hexapod-type Parallel Kinematic Machine Tool

2005 ◽  
Vol 2005.80 (0) ◽  
pp. _13-41_-_13-42_
Author(s):  
Takeshi YOKAWA ◽  
Soichi IBARAKI ◽  
Atsushi MATSUBARA ◽  
Masao NAKAGAWA ◽  
Tetsuya MATSUSHITA
Keyword(s):  
Machine Tool ◽  
Calibration Method ◽  
Kinematic Calibration ◽  
Parallel Kinematic Machine ◽  
Parallel Kinematic

Step kinematic calibration of a 3-DOF planar parallel kinematic machine tool

2008 ◽  
Vol 51 (12) ◽  
pp. 2165-2177 ◽  
Author(s):  
Peng Chang ◽  
JinSong Wang ◽  
TieMin Li ◽  
XinJun Liu ◽  
LiWen Guan
Keyword(s):  
Machine Tool ◽  
Kinematic Calibration ◽  
Parallel Kinematic Machine ◽  
Parallel Kinematic

A New Method for Error Modeling in the Kinematic Calibration of Redundantly Actuated Parallel Kinematic Machine

2020 ◽  
Author(s):  
Lei-Ying He ◽  
Zhen-Dong Wang ◽  
Qin-Chuan Li ◽  
Xin-Xue Chai
Keyword(s):  
Error Model ◽  
Error Modeling ◽  
New Method ◽  
Forward Kinematics ◽  
Kinematic Calibration ◽  
Parallel Kinematic Machine ◽  
Orientation Error ◽  
Redundantly Actuated ◽  
Parallel Kinematic ◽  
Moving Platform

Abstract This paper presents a new method for error modeling and studies the kinematic calibration of redundantly actuated parallel kinematic machines (RA-PKM). First, a n-DOF RA-PKM is split into several n-DOF non-redundantly actuated sub-mechanisms by removing actuators in limbs in an ergodic manner without changing the DOF. The error model of the sub-mechanisms is established by differentiating the forward kinematics. Then, the complete error model of the RA-PKM is obtained by a weighted summation of errors for all sub-mechanisms. Finally, a kinematic calibration experiments are performed on a 3-DOF RA-PKM to verify the method of error modeling. The positioning and orientation error of the moving platform is replaced by the positioning error of the tool center point, which was reduced considerably from 3.427 mm to 0.177 mm through kinematic calibration. The experimental results demonstrate the improvement of the kinematic accuracy after kinematic calibration using the proposed error modeling method.

Modal Analysis and Modeling of a Parallel Kinematic Machine

1999 ◽  
Author(s):  
David S. Hardage ◽  
Gloria J. Wiens
Keyword(s):  
Finite Element ◽  
Resonant Frequency ◽  
Structural Dynamics ◽  
Preliminary Data ◽  
Element Model ◽  
Parallel Kinematic Machine ◽  
Parallel Kinematic ◽  
Machine Configuration ◽  
Stiffness Characteristics ◽  
The Finite Element Model

Abstract This paper presents the results of a mini-modal survey on the Hexel Tornado 2000, a parallel kinematic machine tool located at Sandia National Laboratories, and discusses the finite element model that is used to simulate the structural dynamics of this machine. Preliminary data suggests a dependency of resonant frequency and stiffness characteristics on machine configuration.

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