Browse > Article

A Study on the Error Compensation of Three-DOF Translational Parallel Manipulator  

신욱진 (한양대학교 정밀기계공학과 대학원)
조남규 (한양대학교 기계정보경영학부)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.13, no.3, 2004 , pp. 44-52 More about this Journal
Abstract
This paper proposed a error compensation methodology for three-DOF translational parallel manipulator. The proposed method uses CMM (coordinate measuring machine) as metrology equipment to measure the position of end-effector. To identify the transform relationships between the coordinate system of the parallel manipulator and the CMM coordinate system, 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 the compensating error components at any arbitrary position of the end-effector is derived. In this paper, Monte Carlo simulation method is applied to simulate the compensation process. Through the simulation results, the proposed error compensation method proves its effectiveness and feasibility.
Keywords
Parallel Manipulator; Error Compensation; Coordinate Measuring Machine; Geometric Error;
Citations & Related Records
연도 인용수 순위
  • Reference
1 A General Methodology for Machine Tool Accuracy Enhancement by Error Compensation /
[ Donmez, M. A.;Blomquist, D. S.;Hocken, R. J.;Liu, C. R.;Barash, M. M. ] / Precision Engineering   DOI   ScienceOn
2 A methodology for Machine Tools Error Correction using Reference Parts /
[ Mou, J.;Liu, C. R. ] / International Journal of Computer Integrated Manufacturing   DOI   ScienceOn
3 Self-calibration Method and Software Error Correction for Three-dimensional Coordinate Measuring Machines using artefact Measurements /
[ Kruth, J. P.;Vanherck, P.;De Jonge, L. ] / Measurement   DOI   ScienceOn
4 Error Identification and Compensation for NC Machine Tools Using the Reference Artifact /
[ Kim, K. D.;Chung, S. C. ] / Transactions of the KSMTE
5 Self-Calibration of Parallel Mechanisms with a Case Study on stewart Platforms /
[ Zhuang, H. ] / IEEE Transactions on Robotics and Automation   DOI   ScienceOn
6 Self-Calibration of Parallel manipulators /
[ Zhuang, H.;Liu, L. ] / Proceedings-IEEE International Conference on Robotics and Automation
7 A New Method for Kinematic Parameter Calibration via Laser Line Tracking /
[ Newman, W. S.;Osborn, D. W. ] / Proceedings-IEEE International Conference on Robotics and Automation