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Kinematic calibration of a class of parallel kinematic machines(PKM) with fewer than six degrees of freedom

Science China(Technological Sciences) 2003年第5期46卷 515-526页

作者：黄田唐国宝李思维李亚 G.Derek Chetwynd J.David Whitehouse School of Mechanical Engineering Tianjin University Tianjin 300072 China School of Engineering The University of Warwick Coventry CV4 7AL UK

By taking a 3-DOF translational milling machine as an example, this paper investigates the kinematic calibration of PKM systems with fewer than 6-DOF. The error mapping function is formulated in such a way that the geometric errors affecting the compensatable and uncompensatable pose errors can be separated. Based upon the previous investigation, a hierarchical approach to the geometric error identification is proposed. The compensation strategy is developed which is particularly suitable for the PKM systems with translational moving capability. The experiment has been carried out to verify the effectiveness of the proposed approach and the results show that the accuracy can be significantly improved.

关键词： parallel kinematic machines, kinematic calibration, degrees of freedom.

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Stiffness estimation of a parallel kinematic machine

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Science China(Technological Sciences) 2001年第5期44卷 473-485页

作者：黄田赵兴玉周立华张大卫曾子平 D.J.Whitehouse School of Mechanical Engineering Tianjin University Tianjin 300072 China

This paper presents a simple yet comprehensive approach to quickly estimating the stiff-ness of a tripod-based parallel kinematic machine. This approach can be implemented in two steps. Inthe first step, the machine structure is decomposed into two substructures associated with the machineframe and parallel mechanism. The stiffness models of these two substructures are formulated bymeans of virtual work principle. This is followed by the second step that enables the stiffness model ofthe machine structure as a whole to be achieved by linear superposition. The 3D representations of themachine stiffness within the usable workspace are depicted and the contributions of different componentrigidities to the machine stiffness are discussed. The result is compared with that obtained through finiteelement analysis.

关键词： parallel kinematic machines, stiffness estimation.

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