Identifying the Kinematic Parameters of Hexapod Machine Tool
Identifying the Kinematic Parameters of Hexapod Machine Tool
- New search for: M. M. Agheli
- New search for: M. J. Nategh
- New search for: M. M. Agheli
- New search for: M. J. Nategh
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.
Document information
Identifying the Kinematic Parameters of Hexapod Machine Tool
2009-04-22
oai:zenodo.org:1056771
Article (Journal)
Electronic Resource
English
| DDC: | 629 |
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