Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Precision Evaluation Method for the Positioning Error of Three-DOF Parallel Mechanism using Coordinate Measuring Machine (CMM)

CMM을 이용한 3자유도 병렬기구 위치 오차의 정밀 평가 기법

  • 권기환 (한양대 대학원 정밀기계공학과) ;
  • 박재준 (한양대 대학원 정밀기계공학과) ;
  • 이일규 (한양대 대학원 정밀기계공학과) ;
  • 조남규 (한양대 기계공학과) ;
  • 양현익 (한양대 기계·정보·경영공학부)
  • Published : 2004.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposes precision evaluation method for the positioning error of three-DOF translational parallel mechanism. The proposed method uses conventional CMM as metrology equipment to measure the position of end-effector. In order to obtain accurate measurement data from CMM, the transform relationship between the coordinate system of the parallel mechanism and the CMM coordinate system must be identified. For this purpose, a new coordinate referencing (or coordinate system identification) technique is presented. By using this technique accurate coordinate transformation relationships are efficiently established. According to these coordinate transformation relationships, an equation to calculate error components at any arbitrary position of the end-effector is derived. In addition, mathematical fitting models to represent the position error components in the two-dimensional workspace of the parallel mechanism are also constructed based on response surface methodology. The proposed error evaluation method proves its effectiveness through the experimental results and its application to real three-DOF parallel mechanism.

Keywords

References

  1. Nakamura, O., Goto, M., 'Laser interferometric calibration of microscan mechanisms by using three laser beams,' Precision Engineering, Vol.15, No. 1, pp.39-43, 1993 https://doi.org/10.1016/0141-6359(93)90277-H
  2. Koseki, Y., Arai, T., Sugimoto, K., Takatuji, T. and Goto, M., 'Design and accuracy evaluation of high-speed and high precision parallel mechanism,' Proc. Of the 1998 IEEE Int. Conf. on Robot. Automat., Vol. 2, pp. 1340-1345,1998 https://doi.org/10.1109/ROBOT.1998.677291
  3. Spiess, Vincze M. and Avromlou, M., 'On the calibration of a 6-D laser tracking system for dynamic robot measurements,' IEEE Transactions on Instrumentation and Measurement, Vol. 47, No. 1, pp. 270-274, 1998 https://doi.org/10.1109/19.728832
  4. Renaud, P., Andreff, N., Dhome, M. and Martinet, P., 'Experimental evaluation of a vision-based measuring device for parallel machine-tool calibration, ' Proc. Of the 2002 IEEE/RSJ Int. Conf. on Intell.Robot..Syst., Vol. 2, pp. 1868 -1873, 2002 https://doi.org/10.1109/IRDS.2002.1044028
  5. Masory, O. and Jiahua, Y., 'Measurement of pose repeatability of Stewart platform, 'J. of Robot. Syst., Vol. 12, No. 12, pp. 821-832, 1995 https://doi.org/10.1002/rob.4620121206
  6. Desnard, S. and Khalil, W., 1999, 'Calibration of Parallel Robots Using Two Inclinometers,' Proc. of the 1999 IEEE Int. Conf. on Robotics & Automation Detroit, Michigan, pp. 1758-1763 https://doi.org/10.1109/ROBOT.1999.770363
  7. Sato, O., Hiraki, M. and Takamusu, K., 'The Calibration of Parallel-CMM: Parallel-Coordinate Measuring Machine,' Proc. of the 3rd euspen International Conference, pp. 573-576, 2002
  8. Lung-wen, T. and Sameer, J., 'Comparison studies of architectures of four 3 degree-of-freedom translational parallel manipulators,' Proc. Of the 2001 IEEE Int. Conf. on Robot. Automat., Vol. 2, pp. 1283-1288,2001 https://doi.org/10.1109/ROBOT.2001.932787
  9. Han, H.S. and Park, T.W., 'Robust Design of Mechanisms Using the Response Surface Analysis,' KSPE, Vol.13, No.12, pp.56-61, 1996
  10. Xiaoliu, Y., Mingyang, Z., Lijin, F. Honggua, W. and Qiyi, W., 'Measuring Data Based Non-linear Error Modeling for Parallel Machine Tool,' Proc. Of the 2001 IEEE Int. Conf. on Robot. Automat., Vol. 2, pp. 3535-3540,2001 https://doi.org/10.1109/ROBOT.2001.933165
  11. Joao, B., de Aquino, S. and Burdekin, M. 'A modular space frame for assessing the performance of co-ordinate measuring machines (CMMs),' Precision Engineering, Vol.26, No. 1, pp. 37-48, 2002 https://doi.org/10.1016/S0141-6359(01)00096-4