Affiliation:
1. TOYODA Machine Works, Ltd Technical Research and Development Center Kariya, Japan
2. Tohoku University Department of Aeronautics and Space Engineering, Graduate School of Engineering Sendai, Japan
Abstract
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.
Subject
Mechanical Engineering,Condensed Matter Physics
Cited by
11 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献