Hexapod Machine Tool (HMT) is a parallel robot mostly based on Stewart platform. Identification of kinematic parameters of HMT is an important step of calibration procedure. In this paper an algorithm is presented for identifying the kinematic parameters of HMT using inverse kinematics error model. Based on this algorithm, the calibration procedure is simulated. Measurement configurations with maximum observability are decided as the first step of this algorithm for a robust calibration. The errors occurring in various configurations are illustrated graphically. It has been shown that the boundaries of the workspace should be searched for the maximum observability of errors. The importance of using configurations with sufficient observability in calibrating hexapod machine tools is verified by trial calibration with two different groups of randomly selected configurations. One group is selected to have sufficient observability and the other is in disregard of the observability criterion. Simulation results confirm the validity of the proposed identification algorithm.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Identifying the Kinematic Parameters of Hexapod Machine Tool


    Beteiligte:
    M. M. Agheli (Autor:in) / M. J. Nategh (Autor:in)

    Erscheinungsdatum :

    22.04.2009


    Anmerkungen:

    oai:zenodo.org:1056771



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Axiomatic Design of Hexapod-based Machine Tool Structures

    Ullah, A.M.M. Sharif / Harib, Khalifa H. | SAE Technical Papers | 2008


    Axiomatic design of hexapod-based machine tool structures

    Harib,K.H. / Ullah,A.M. / United Arab Emirates Univ.,AE | Kraftfahrwesen | 2008