Abstract
This paper describes a newly developed forward kinematic calibration method for parallel mechanisms, which identifies the kinematic parameters using the positioning data measured by a Double Ball Bar (DBB) system. This method enables precise calibration with easy measurements, which improves the static accuracy reduced by kinematic parameter errors. This paper also describes a new gravity compensation method, in which the kinematic parameters are updated gradually according to the travelling plate position. This provides real-time motion control with compensation. These methods are applied to the parallel-mechanism-based milling machine, named HexaM, and their validity is verified by simulation and experiment.
| Original language | English |
|---|---|
| Pages (from-to) | 39-49 |
| Number of pages | 11 |
| Journal | Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics |
| Volume | 216 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2002 |
| Externally published | Yes |
Keywords
- Double Ball Bar system
- Elastic deformation
- Forward kinematics
- Gravity compensation
- HexaM
- Kinematic calibration
- Parallel mechanism
ASJC Scopus subject areas
- Condensed Matter Physics
- Mechanical Engineering