Sensitivity Analysis and Error Compensation Modeling for Five-DOF Hybrid PKM with Assembly Manufacturing Errors

• Main Authors: Min-Hsin Hsei, 謝明興
• Other Authors: Shang-Liang Chen
• Format: Others
• Language: zh-TW
• Published: 2001
• Online Access: http://ndltd.ncl.edu.tw/handle/69021170534805954620

碩士 === 國立成功大學 === 製造工程研究所 === 89 === Using parallel kinematic mechanism as the basic structure of the parallel kinematic machine tool is a new design concept and become one of the most important research fields and attracts many previous researchers. However, the application of these machines as a machine tool has not yet proven itself in terms of accuracy enhancement over traditional machine tools. In general, the geometry of the machine tool (moving platform size relative to base size) has significant affects on the level of accuracy achievable. Therefore, an error model analysis for the parallel kinematic machine tool to take the advantage of geometry to minimize the error and increase the accuracy is very important, interesting and is focused in this research. A TRR-XY hybrid five DOF parallel kinematic machine tool is built for this research to investigate the error model and compensation theory. The errors from the component machining and manufacturing assemble are defined and considered into the inverse and forward kinematic solutions. The effects of the manufacturing errors on the accuracy of the machine tool are shown in this research. The analysis results are adopted as the basis for creating a useful knowledge database. The database is obviously very helpful for the design of the parallel kinematic machine tool. There are many manufacturing errors included in the construction of the parallel kinematic machine tool. It is not possible to find the exact solution for all of the manufacturing errors. A nonlinear least-square method is adopted in this research to approximate the errors based on the forward kinematic error model. The compensation theory is further developed using the above predicted errors and the inverse kinematic error model. The simulation results show that the compensation theory developed in this research can significantly improve the machining accuracy.