Hostname: page-component-78c5997874-4rdpn Total loading time: 0 Render date: 2024-11-05T11:15:34.875Z Has data issue: false hasContentIssue false
  • English
  • Français

Kinematic calibration of the 3-DOF parallel module of a 5-axis hybrid milling machine

Published online by Cambridge University Press:  12 August 2010

Li-Ping Wang ,
Fu-Gui Xie ,
Xin-Jun Liu  and
Jinsong Wang
Li-Ping Wang
Affiliation:
The State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China
Fu-Gui Xie
Affiliation:
The State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China
Xin-Jun Liu*
Affiliation:
The State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China
Jinsong Wang
Affiliation:
The State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper investigates the kinematic calibration of a 3-DOF parallel mechanism based on the minimal linear combinations of error parameters. The error mapping function between the geometric errors and the output errors is formulated and the identification matrix is generated and simplified. In order to identify the combinations of error parameters, four theorems to analyze the columns of the simplified identification matrix are introduced. Then, an anti-disturbance index is presented to evaluate the identification performance. On the basis of this index, measurement strategy is developed and optimal measuring configurations are given. After external calibration, linear interpolation compensation is applied to improve the terminal accuracy further. Results of experiment show that the method used in this paper is effective and efficient, and the errors are convergent within two iterations generally. This method can be extended to other parallel mechanisms with weakly nonlinear kinematics.

Keywords

Kinematic calibrationMinimal linear combinationAnti-disturbance indexParallel kinematic mechanism
Type
Articles
Information
Robotica , Volume 29 , Issue 4 , July 2011 , pp. 535 - 546
Copyright
Copyright © Cambridge University Press 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Kong, X. and Gosselin, C. M., “Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory,” Proceedings of DETC'02 ASME 2002 Design Engineering Technical Conferences and Computer and Information in Engineering Conference, Montreal, Canada (2002) DETC2002/MECH-34259.Google Scholar
2.Chablat, D. and Wenger, P., “Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the Orthoglide,” Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the Orthoglide. 19 (3), 403–410 (2003).Google Scholar
3.Liu, X.-J., Jeong, J. and Kim, J., “A three translational DoFs parallel cube-manipulator,” Robotica 21 (6), 645–653 (2003).CrossRefGoogle Scholar
4.Yu, J., Dai, J. S., Zhao, T. S., Bi, S. S. and Zong, G. H., “Mobility analysis of complex joints by means of screw theory,” Robotica 27 (6), 915–927 (2009).CrossRefGoogle Scholar
5.Lu, Y., Shi, Y. and Yu, J., “Kinematic analysis of limited-DOF parallel manipulators based on translational/rotational Jacobian and Hessian matrices,” Robotica 27 (7), 971–980 (2009).CrossRefGoogle Scholar
6.Dörries Scharmann Technologie GmbH, Machining centers for the aerospace industry, http://ds-technologie.de/v3/products/overview.php?id=9 (2008).Google Scholar
7.Kanaan, D., Wenger, Ph. and Chablat, D., “Workspace analysis of the parallel module of the VERNE machine,” Probl. Mech. 4, 26–42 (2006).Google Scholar
8.Staicu, S. and Zhang, D., “A novel dynamic modeling approach for parallel mechanisms analysis,” Robot. Comput.-Integr. Manuf. 24, 167–172 (2008).CrossRefGoogle Scholar
9.Huang, T., Tang, G., Li, S. and Chetwynd, D. G., “Kinematic calibration of a class of parallel kinematic machines (PKM) with fewer than six degrees of freedom,” Sci. China E 46 (5), 515–526 (2003).CrossRefGoogle Scholar
10.Huang, T., Chetwynd, D. G., Whitehouse, D. J. and Wang, J., “A general and novel approach for parameter identification of 6-DOF parallel kinematic machines,” Mech. Mach. Theory 40 (2), 219–239 (2005).CrossRefGoogle Scholar
11.Chiu, Y. J. and Perng, M. H., “Self-calibration of a general hexapod manipulator using cylinder constraints,” Int. J. Mach. Tools Manuf. 43 (10), 1051–1066 (2003).CrossRefGoogle Scholar
12.Chang, P., Wang, J. S., Li, T. M., Liu, X. J. and Guan, L. W., “Step kinematic calibration of a 3-DOF planar parallel machine tool,” Sci. China Aeries E: Technol. Sci. 51, 2165–2177 (2008).CrossRefGoogle Scholar
13.Takeda, Y., Shen, G. and Funabashi, H., “A DBB-based kinematic calibration method for in-parallel actuated mechanisms using a Fourier series,” J. Mech. Des. 126, 856–865 (2004).CrossRefGoogle Scholar
14.Huang, T., Hong, Z. Y., Mei, J. P. and Chetwynd, D. G., “Kinematic calibration of the 3-DOF module of a 5-DOF reconfigurable hybrid robot using a double-ball-bar system,” Proceedings of the 2006 IEEE/RSJ, International Conference on Intelligent Robots and Systems, Beijing, China (2006) pp. 508–512.Google Scholar
15.Verner, M., Xi, F. and Mechefske, C., “Optimal calibration of parallel kinematic machines,” J. Mech. Des. 127, 62–69 (2005).CrossRefGoogle Scholar
16.Menq, J. H., Borm, J. H. and Lai, J. Z., “Identification, observability measure of a basis set of error parameters in robot calibration,” J. Mech. Transm. Autom. Des. 111, 513–518 (1989).CrossRefGoogle Scholar
17.Driels, M. R. and Pathre, U. S., “Significance of observation strategy on the design of robot calibration experiments,” J. Robot. Syst. 7 (2), 197–223 (1990).CrossRefGoogle Scholar
18.Nahvi, A., Hollerbach, J. M. and Hayward, V., “Calibration of a parallel robot using multiple kinematic closed loops,” Proceedings of IEEE International Conference of Robotics and Automation, San Diego (1994) pp. 407–412.Google Scholar
19.Wang, J. S., Liu, X. J. and Wu, C., “Optimal design of a new spatial 3-DOF parallel robot with respect to a frame-free index,” Sci. China E: Technol. Sci. 52, 986–999 (2009).CrossRefGoogle Scholar
20.Liu, X. J., Wang, J., Wu, C. and Kim, J., “A new family of spatial 3-DOF parallel manipulators with two translational and one rotational DOFs,” Robotica 27 (2), 241–247 (2009).CrossRefGoogle Scholar
21.Chang, P., Error Analysis and Kinematic Calibration of Planar Parallel Mechanism (in Chinese) Ph.D. Thesis (Beijing, China: Tsinghua University, 2008).Google Scholar