Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Study on the Error Compensation of Three-DOF Translational Parallel Manipulator

3자유도 병렬기구의 위치오차 보정기술에 관한 연구

  • 신욱진 (한양대학교 정밀기계공학과 대학원) ;
  • 조남규 (한양대학교 기계정보경영학부)
  • Published : 2004.06.01
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Abstract

This paper proposed a error compensation methodology for three-DOF translational parallel manipulator. The proposed method uses CMM (coordinate measuring machine) as metrology equipment to measure the position of end-effector. To identify the transform relationships between the coordinate system of the parallel manipulator and the CMM coordinate system, a new coordinate referencing (or coordinate system identification) technique is presented. By using this technique, accurate coordinate transformation relationships are efficiently established. According to these coordinate transformation relationships, an equation to calculate the compensating error components at any arbitrary position of the end-effector is derived. In this paper, Monte Carlo simulation method is applied to simulate the compensation process. Through the simulation results, the proposed error compensation method proves its effectiveness and feasibility.

Keywords

References

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