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Kinematical calibration of a hybrid machine tool with Regularization method
Huang, Peng1; Wang, Jinsong2; Wang, Liping1; Yao, Rui3
AbstractThe 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.
KeywordParallel Mechanism Error Identification Kinematical Calibration Regularization Method
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WOS IDWOS:000287829100006
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Cited Times:28[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Affiliation1.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
Recommended Citation
GB/T 7714
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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