To read this content please select one of the options below:

Kinematic calibration of a 3-DOF parallel tool head

Yuzhe Liu (State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, China)
Jun Wu (State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, China and Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, China)
Liping Wang (State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, China)
Jinsong Wang (State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, China)
Dong Wang (State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, China)
Guang Yu (State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 20 March 2017

307

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.

Keywords

Acknowledgements

This work is supported by the National Natural Science Foundation of China (Grant No. 51622505 and 51225502), the Science and Technology Major Project-Advanced NC Machine Tools & Basic Manufacturing Equipments (2013ZX04004021 and 2014ZX04002051) and Top-Notch Young Talents Program of China.

Citation

Liu, Y., Wu, J., Wang, L., Wang, J., Wang, D. and Yu, G. (2017), "Kinematic calibration of a 3-DOF parallel tool head", Industrial Robot, Vol. 44 No. 2, pp. 231-241. https://doi.org/10.1108/IR-07-2016-0184

Publisher

:

Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited

Related articles