Uncertainty Propagation in Calibration of Parallel Kinematic Machines
Over the last decade, multi-axis machine tools and robots based on parallel kinematic mechanisms (PKMs) have been developed and marketed worldwide. Positional accuracy in these machines is controlled by accurate knowledge of the kinematic parameters which consists of the joint center locations and distances between joint pairs. Since these machines tend to be rather large in size, the kinematic parameters (joint center locations, and initial strut lengths) are difficult to determine when these machines are in their fully assembled state. Work recently completed by the University of Florida and Sandia National Laboratories has yielded a method for determining all of the kinematic parameters of an assembled parallel kinematic device. This paper contains a brief synopsis of the calibration method created, an error budget, an uncertainty analysis for the recovered kinematic parameters and the propagation of these uncertainties to the tool tip.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Sandia National Lab. (SNL-CA), Livermore, CA (United States)
- Sponsoring Organization:
- US Department of Energy (US)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 14380
- Report Number(s):
- SAND99-2840J; TRN: AH200136%%483
- Journal Information:
- Precision Engineering, American Society for Precision Engineering (ASPE), Other Information: Submitted to Precision Engineering, American Society for Precision Engineering (ASPE); PBD: 2 Nov 1999
- Country of Publication:
- United States
- Language:
- English
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