Kinematic calibration of a 3-DOF parallel tool head

Abstract

Purpose The purpose of this study is to develop a modified parameter identification method and a novel measurement method to calibrate a 3 degrees-of-freedom (3-DOF) parallel tool head. This parallel tool head is a parallel mechanism module in a five-axes hybrid machine tool. The proposed parameter identification method is named as the Modified Singular Value Decomposition (MSVD) method. It aims to overcome the difficulty of choosing the algorithm parameter in the regularization identification method. The novel measurement method is named as the vector projection (VP) method which is developed to expand the measurement range of self-made measurement implements. Design/methodology/approach Newton Iterative Algorithm based on Least Square Method is analyzed by using the Singular Value Decomposition method. Based on the analysis result, the MSVD method is proposed. The VP method transforms the angle measurement into the displacement measurement by taking full advantage of the ability that the 3-DOF parallel tool head can move in the X – Y plane. Findings The kinematic calibration approach is verified by calibration simulations, a Rotation Tool Center Point accuracy test and an experiment of machining an “S”-shaped test specimen. Originality/value The kinematic calibration approach with the MSVD method and VP method could be successfully applied to the 3-DOF parallel tool head and other 3-DOF parallel mechanisms.