کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
804830 904999 2011 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Identification of structure errors of 3-PRS-XY mechanism with Regularization method
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Identification of structure errors of 3-PRS-XY mechanism with Regularization method
چکیده انگلیسی

In a complicated spatial parallel or hybrid machine tool, error identification or kinematical calibration is an important way to improve and guarantee the accuracy of the end-effector. In this study, error model and kinematics with error based on 3-PRS-XY hybrid mechanism are firstly derived to introduce all possible manufacturing and assembling errors into calibration. Then, identification matrix is numerically analyzed to provide theoretical basis for measurement and calibration. Combining the advantages of calibration schemes based on both inverse and forward kinematics model, a new measurement scheme is put forward, in which not all freedoms of motions needs to be measured and error identification could be efficiently accomplished in one time measurement. With this measurement scheme, standard measuring tools are effectively used to reduce the cost of calibration. However, solution of the singular and ill-conditioning identification equations is still difficult. Therefore, for solving the ill-posed problem in error identification, several practical Regularization methods are adopted. The results of simulation and experiment verify feasibility and effectivity of the methods.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 46, Issue 7, July 2011, Pages 927–944
نویسندگان
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