2006年
Hexapod型パラレルメカニズム工作機械の精度向上に関する研究(第3報) ―重力の影響をキャンセルするキャリブレーション法―
精密工学会誌
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- 巻
- 72
- 号
- 3
- 開始ページ
- 355
- 終了ページ
- 359
- 記述言語
- 日本語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.2493/jspe.72.355
- 出版者・発行元
- 公益社団法人精密工学会
This paper presents a methodology to calibrate kinematic parameters in a Hexapod-type parallel mechanism machine tool. In the conventional calibration process, the influence of the calibration error and that of the deformation of struts due to the gravity cannot be explicitly distinguished on contouring error trajectories. As a result, the gravity-induced contouring error becomes one of major causes for calibration error of kinematic parameters. This paper presents a kinematic calibration methodology that takes gravity-induced errors into explicit consideration. By performing the calibration of kinematic parameters and the modification of the prediction model of gravity-induced errors in an iterative manner, the machine's contouring accuracy can be improved. Experimental comparison shows the machine's contouring accuracy is significantly improved by applying the proposed calibration method.
- リンク情報
- ID情報
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- DOI : 10.2493/jspe.72.355
- ISSN : 1348-8724
- CiNii Articles ID : 110004656739
- CiNii Books ID : AA11966630