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Identification of structure errors of 3-PRS-XY mechanism with Regularization method
Huang, Peng1; Wang, Jinsong2; Wang, Liping1; Yao, Rui3
2011-07-01
Source PublicationMECHANISM AND MACHINE THEORY
Volume46Issue:7Pages:927-944
AbstractIn a complicated spatial parallel or hybrid machine tool, error identification or kinematical calibration is an important way to improve and guarantee the accuracy of the end-effector. In this study, error model and kinematics with error based on 3-PRS-XY hybrid mechanism are firstly derived to introduce all possible manufacturing and assembling errors into calibration. Then, identification matrix is numerically analyzed to provide theoretical basis for measurement and calibration. 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. With this measurement scheme, standard measuring tools are effectively used to reduce the cost of calibration. However, solution of the singular and ill-conditioning identification equations is still difficult. Therefore, for solving the ill-posed problem in error identification, several practical Regularization methods are adopted. The results of simulation and experiment verify feasibility and effectivity of the methods. (C) 2011 Elsevier Ltd. All rights reserved.
KeywordParallel Mechanism Error Identification Kinematical Calibration Regularization Method
DOI10.1016/j.mechmachtheory.2011.02.006
Indexed BySCI
Language英语
WOS IDWOS:000289717200007
Citation statistics
Document Type期刊论文
Identifierhttp://ir.bao.ac.cn/handle/114a11/7859
Collection射电天文研究部
Affiliation1.Tsinghua Univ, Dept Precis Instruments & Mechanol, 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. Identification of structure errors of 3-PRS-XY mechanism with Regularization method[J]. MECHANISM AND MACHINE THEORY,2011,46(7):927-944.
APA Huang, Peng,Wang, Jinsong,Wang, Liping,&Yao, Rui.(2011).Identification of structure errors of 3-PRS-XY mechanism with Regularization method.MECHANISM AND MACHINE THEORY,46(7),927-944.
MLA Huang, Peng,et al."Identification of structure errors of 3-PRS-XY mechanism with Regularization method".MECHANISM AND MACHINE THEORY 46.7(2011):927-944.
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