TY - JOUR
T1 - Forward kinematic calibration and gravity compensation for parallel-mechanism-based machine tools
AU - Ota, H.
AU - Shibukawa, T.
AU - Tooyama, T.
AU - Uchiyama, M.
PY - 2002
Y1 - 2002
N2 - 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.
AB - 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.
KW - Double Ball Bar system
KW - Elastic deformation
KW - Forward kinematics
KW - Gravity compensation
KW - HexaM
KW - Kinematic calibration
KW - Parallel mechanism
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U2 - 10.1243/146441902760029375
DO - 10.1243/146441902760029375
M3 - Article
AN - SCOPUS:0346107222
SN - 1464-4193
VL - 216
SP - 39
EP - 49
JO - Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
JF - Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
IS - 1
ER -