Kinematic calibration of a class of parallel kinematic machines(PKM) with fewer than six degrees of freedom

被引：0
|
作者：
黄田
唐国宝
李思维
李亚
G.Derek Chetwynd
J.David Whitehouse
机构：
[1] China
[2] Tianjin University
[3] School of Mechanical Engineering
[4] Tianjin 300072
[5] UK
[6] Coventry CV4 7AL
[7] School of Engineering
[8] The University of Warwick
来源：
Science China Technological Sciences | 2003年 / 05期
关键词：
parallel kinematic machines; kinematic calibration; degrees of freedom;
D O I：
暂无
中图分类号：
TH112 [机构学];
学科分类号：
080203 ;
摘要：
By taking a 3-DOF translational milling machine as an example, this paper investigates the kinematic calibration of PKM systems with fewer than 6-DOF. The error mapping function is formulated in such a way that the geometric errors affecting the compensatable and uncompensatable pose errors can be separated. Based upon the previous investigation, a hierarchical approach to the geometric error identification is proposed. The compensation strategy is developed which is particularly suitable for the PKM systems with translational moving capability. The experiment has been carried out to verify the effectiveness of the proposed approach and the results show that the accuracy can be significantly improved.
引用
收藏
页码：515 / 526
页数：12
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