Step-by-step self-calibration of a 3-DOF planar parallel kinematic machine tool with actuation redundancy

作者：Chang Peng^*; Li Tiemin; Liu Xinjun

来源：Journal of Tsinghua University(Science and Technology), 2008, 48(5): 808-811.

• Actuation redundancy
• Degrees of freedom
• Engineering measurements
• error modeling
• error parameters
• Linear combination (LC)
• Parallel kinematic machine (PKM)
• parameter identifications
• Self calibration
• Self calibration methods
• Step-by-step
• Step-by-step measurement

Minimal linear combinations (MLCs) of the error parameters were used to develop a step-by-step self-calibration method for a 3-DOF planar parallel kinematic machine tool with actuation redundancy. All the engineering measurements were given based on error model outputs and mechanism degrees of freedom, with the parameter identification analyses of each measurement then providing a different set of MLCs. The method takes into account the identification integrity and observability, including step-by-step measurement, parameter identification, and error compensation. Simulations show that this robust, effective method eliminates parameters not affecting the final precision and increases the parameter identification accuracies in each step, with estimated errors matching well with their specified values.

• 出版日期2008
• 单位清华大学