Analysis on Influence of the Position Error of Joint Points in the Fixed Platform of 3-UPS Parallel Machine Tool

2012 ◽  
Vol 459 ◽  
pp. 203-206
Author(s):  
Jian Ye Guo ◽  
Yan Jin ◽  
Zhong Qi Sheng ◽  
Liang Zhao
Keyword(s):  
Machine Tool ◽  
Error Compensation ◽  
Inverse Kinematics ◽  
Theoretical Foundation ◽  
Mathematical Expression ◽  
Parallel Machine ◽  
Position Error ◽  
Kinematics Analysis ◽  
Independent Function ◽  
Parallel Machine Tool

This paper took one kind of 3-TPT Parallel Machine Tool (PMT) as the object of research. It mainly analyzed the influences of the position error of joint points in the fixed platform to the position error of tool of this PMT. Firstly, on the basis of introducing the structure of PMT, the kinematics of this machine was analyzed, and the inverse kinematics equation of this PMT was obtained. Then the influence situation of the position error of joint points in the fixed platform to the position error of tool was studied based on the kinematics analysis results and the error independent function principle, and the corresponding mathematical expression of error influence was established. Thus the theoretical foundation was laid for the comprehensive establishment of error model and the error compensation of this PMT

Research on Error Compensation by Semi-Closed Loop Control for a 3-UPS Parallel Machine Tool

2012 ◽  
Vol 461 ◽  
pp. 272-276
Author(s):  
Jian Ye Guo ◽  
Jia Shun Shi ◽  
Liang Zhao
Keyword(s):  
Machine Tool ◽  
Error Compensation ◽  
Closed Loop ◽  
Parallel Machine ◽  
Control Mode ◽  
Closed Loop Control ◽  
Kinematics Analysis ◽  
Compensation Strategy ◽  
Loop Control ◽  
Parallel Machine Tool

This paper took a 3-UPS Parallel Machine Tool (PMT) as the object of research; it mainly introduced the process of establishing the compensation strategy for this PMT. Firstly the kinematics equations on driving chain and constraint chain was established on the basis of kinematics analysis. Then according to the structural characteristics and the results of kinematics analysis, the error compensation strategy of feedback correction type with the semi-closed loop control mode was used in the error compensation for this PMT by the method of installing respectively the encoders on the each joint of parallelogram mechanism, namely the compensation way of “parallel driving and series feedback” was adopted. Finally this paper has also deduced the theoretical model of error compensation. The research results in this paper provided a theoretical basis for realizing error compensation of this PMT, and had important practical significance for improving machining precision of PMT

The Error Compensation Strategy of 3-TPT Parallel Machine Tool Based on Semi-Closed Loop Control

2011 ◽  
Vol 321 ◽  
pp. 176-179
Author(s):  
Jian Ye Guo ◽  
Zhong Qi Sheng ◽  
Liang Zhao
Keyword(s):  
Machine Tool ◽  
Error Compensation ◽  
Closed Loop ◽  
Parallel Machine ◽  
Control Mode ◽  
Closed Loop Control ◽  
Kinematics Analysis ◽  
Compensation Strategy ◽  
Loop Control ◽  
Parallel Machine Tool

This paper took a kind of 3-TPT Parallel Machine Tool (PMT) as the object of research; it mainly introduced the process of establishing the compensation strategy for this PMT. Firstly the kinematics equation of this PMT was established on the basis of kinematics analysis, the results showed that the kinematics equation of this PMT have characteristics that are simple calculation, explicit expression and unique solution. Then according to the structural characteristics and the results of kinematics analysis, the error compensation strategy of feedback correction type with the semi-closed loop control mode was used in the error compensation for this PMT by the method of assembling the gratings on the driving rods, namely the compensation way of “parallel driving and parallel feedback” was adopted. The research results in this paper provided a theoretical basis for realizing error compensation of this PMT, and had important practical significance for improving machining precision of PMT.

Review on Error Compensation Technology of Parallel Machine Tool

2014 ◽  
Vol 800-801 ◽  
pp. 798-802
Author(s):  
Liang Zhou ◽  
Liu Tang ◽  
Ju Long Yuan ◽  
Da Gang Xie
Keyword(s):  
Machine Tool ◽  
Error Detection ◽  
Error Compensation ◽  
Parallel Machine ◽  
Research Trends ◽  
Error Modeling ◽  
Modeling Error ◽  
Development History ◽  
History Of ◽  
Parallel Machine Tool

This paper reviews the development history of parallel machine tool and new achievements in China and abroad. Typical methods of error modeling, error detection and error compensation are introduced. After analyzing the biggest problem of recent error compensation technology, this paper prospects the further research trends.

The Kinematics Analysis of the 3-PTT Parallel Machine Tools

2014 ◽  
Vol 701-702 ◽  
pp. 784-787
Author(s):  
Ming Hu ◽  
Jia Shun Shi
Keyword(s):  
Machine Tool ◽  
Machine Tools ◽  
Jacobian Matrix ◽  
Parallel Machine ◽  
Kinematics Analysis ◽  
Kinematic Coupling ◽  
Parallel Machine Tools ◽  
Parallel Machine Tool

This paper presents the kinematics for 3-PTT parallel machine tools, the kinematic is analytically performed, the forward and inverse position kinematic equations are explicit functions and workspace is derived and there is no singularity configuration and kinematic coupling in the whole workspace. The manipulability analytical of the parallel machine tool is investigated by the Jacobian matrix.

Kinematic Analysis of 5-UPS Parallel Machine Tool Based on Adams

2014 ◽  
Vol 644-650 ◽  
pp. 215-219 ◽  
Author(s):  
Lin Cai
Keyword(s):  
Mathematical Model ◽  
Machine Tool ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Machine ◽  
Inverse Solution ◽  
Robot Kinematics ◽  
Vector Method ◽  
Parallel Machine Tool ◽  
The Mathematical Model

In this paper, the kinematics of 5-UPS parallel machine tool is analyzed, and a kinematic analysis method combining kinematic analysis and computer kinematics software is proposed. Under the premise that the parallel machine tool sector parameters is known, firstly we use the vector method to establish a mathematical model of inverse kinematics, and in accordance with a U-shaped processing trajectory the inverse solution is calculated; Secondly, three-dimensional model of the parallel machine tool is modeled in Adams, and kinematic constraints are set correctly; Finally, the inverse kinematics solution of the mathematical model is used as the Adams drive input, then the positive solutions is carried out. Compared through the Adams simulation results with U-machining path, it is verified that the inverse solution of the mathematical model and parallel machine tool bodies both are correct, it has certain significance for Parallel machine tools and other parallel robot kinematics analysis.

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