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1. Kinematic calibration of a 2-DOF spatial parallel mechanism.

Author

Majarena, A. C., Santolaria, J., Samper, D., and Aguilar, J. J.

Subjects
KINEMATICS, DEGREES of freedom, CALIBRATION, MATHEMATICAL models, DATA analysis, ALGORITHMS, NUMERICAL analysis
Abstract

This paper presents a new calibration procedure to identify the geometric parameters which improve the kinematic model accuracy of a mechanism. This procedure has been applied to a 2-DOF spatial parallel mechanism, obtaining the identified parameters by means of the direct kinematic model and reducing the position error of the moving platform. Data acquisition is performed by measuring three standard spheres, fixed to the moving platform, by means of a coordinate measuring machine. The method implemented defines an objective function which is optimized though a numerical method based on the Levenberg-Marquardt algorithm. This function compares the measured and calculated moving platform coordinates and minimizes this difference. Results show that in both cases, identification and test position, the position error is reduced considerably. The method developed can be easily generalized to other parallel mechanism. [ABSTRACT FROM AUTHOR]

Published
2012
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2. New algorithms for motion error detection of numerical control machine tool by laser tracking measurement on the basis of GPS principle.

Author

Wang, Jindong, Chen, Peng, Deng, Yufen, and Guo, Junjie

Subjects
LASERS, GLOBAL Positioning System, NUMERICAL control of machine tools, MATHEMATICAL models, ITERATIVE methods (Mathematics), ALGORITHMS, CALIBRATION
Abstract

As a three-dimensional measuring instrument, the laser tracker is widely used in industrial measurement. To avoid the influence of angle measurement error on the overall measurement accuracy, the multi-station and time-sharing measurement with a laser tracker is introduced on the basis of the global positioning system (GPS) principle in this paper. For the proposed method, how to accurately determine the coordinates of each measuring point by using a large amount of measured data is a critical issue. Taking detecting motion error of a numerical control machine tool, for example, the corresponding measurement algorithms are investigated thoroughly. By establishing the mathematical model of detecting motion error of a machine tool with this method, the analytical algorithm concerning on base station calibration and measuring point determination is deduced without selecting the initial iterative value in calculation. However, when the motion area of the machine tool is in a 2D plane, the coefficient matrix of base station calibration is singular, which generates a distortion result. In order to overcome the limitation of the original algorithm, an improved analytical algorithm is also derived. Meanwhile, the calibration accuracy of the base station with the improved algorithm is compared with that with the original analytical algorithm and some iterative algorithms, such as the Gauss-Newton algorithm and Levenberg-Marquardt algorithm. The experiment further verifies the feasibility and effectiveness of the improved algorithm. In addition, the different motion areas of the machine tool have certain influence on the calibration accuracy of the base station, and the corresponding influence of measurement error on the calibration result of the base station depending on the condition number of coefficient matrix are analyzed. [ABSTRACT FROM AUTHOR]

Published
2018
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