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Kinematical calibration of a hybrid machine tool with Regularization method
Huang, Peng1; Wang, Jinsong2; Wang, Liping1; Yao, Rui3
2011-03-01
发表期刊INTERNATIONAL JOURNAL OF MACHINE TOOLS & MANUFACTURE
卷号51期号:3页码:210-220
摘要The hybrid machine tools, combining the advantages of serial and parallel type machine tools, provide more and more application opportunities for less-freedom parallel mechanism. Accuracy performance is still an important index of hybrid machine tool for industry application. In this study, configuration of a 3-P(4R)S-XY hybrid machine tool is first introduced. The 3-P(4R)S parallel mechanism can be simplified to a 3-PRS mechanism on kinematical calibration. Based on that, error model and error kinematics are derived to introduce all possible manufacturing and assembling errors into calibration. Then, identification matrix is derived by differentiating kinematical equations. Combining the advantages of calibration schemes based on both inverse and forward kinematics model, a new measurement scheme is put forward, in which not all freedoms of motions needs to be measured and error identification could be efficiently accomplished in one time measurement. In order to solve the ill-posed problem in error identification, practical Regularization methods are adopted. Finally, the kinematical calibration experiment of the prototype machine tool is performed with a combined measuring tool. The results of RTCP accuracy test reveal that the positioning accuracy is less than 0.05 mm in the 30 degrees cone workspace. Calibration experiments for the prototype verify feasibility and effectivity of the more precise kinematical error model, the low-cost measurement scheme, and the error identification solution with Regularization method. (C) 2010 Elsevier Ltd. All rights reserved.
关键词Parallel Mechanism Error Identification Kinematical Calibration Regularization Method
DOI10.1016/j.ijmachtools.2010.11.009
收录类别SCI
语种英语
WOS记录号WOS:000287829100006
引用统计
被引频次:25[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.bao.ac.cn/handle/114a11/7827
专题射电天文研究部
作者单位1.Tsinghua Univ, Inst Mfg Engn, Dept Precis Instruments & Mech, Beijing 100084, Peoples R China
2.Univ Elect Sci & Technol China, Chengdu 610054, Peoples R China
3.Chinese Acad Sci, Natl Astron Observ, Beijing 100012, Peoples R China
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Huang, Peng,Wang, Jinsong,Wang, Liping,et al. Kinematical calibration of a hybrid machine tool with Regularization method[J]. INTERNATIONAL JOURNAL OF MACHINE TOOLS & MANUFACTURE,2011,51(3):210-220.
APA Huang, Peng,Wang, Jinsong,Wang, Liping,&Yao, Rui.(2011).Kinematical calibration of a hybrid machine tool with Regularization method.INTERNATIONAL JOURNAL OF MACHINE TOOLS & MANUFACTURE,51(3),210-220.
MLA Huang, Peng,et al."Kinematical calibration of a hybrid machine tool with Regularization method".INTERNATIONAL JOURNAL OF MACHINE TOOLS & MANUFACTURE 51.3(2011):210-220.
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