Error Modeling and Error Compensationfor XYZA-C PKM

• Main Authors: Hui-Min Chang, 張惠民
• Other Authors: Psang-Dain Lin
• Format: Others
• Language: zh-TW
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/j998kj

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 90 === In order to improve the precision in machine tool, the industry and academia make efforts in developing new types that can work more accurate. If the assembly accuracy can’t outstrip the working accuracy, it will reduce the product’s dimensions greatly. On purpose of increasing working accuracy, we usually use measurement technology to inspect errors on machine tool. But the common problems are that expensive equipments and not easy to measure. Instead of measurement, we can use computer software on error analysis and error compensation to save time and lower the cost. That’s the purpose of this research. A XYZA-C five D.O.F. parallel kinematics machine tool is built for this research. First, we use D-H notation to derive inverse and forward kinematic solutions. At the same time we use math software simulation to demonstrate the correctness of inverse and forward kinematic solutions. In chapter three, we use the setting of error parameters to derive the forward kinematic error modeling and simulate the effects on end of tool when errors on machine tool. Using the differences of ideal surface and error surface to draw ‘error surface’. And compare the variation in different error parameters. The goal is to get error distribution and a basis of judging actual error surface. So we can get the error quantities on machine tool. In the end of this research, it is base on forward kinematic error modeling and adopted nonlinear least-square method to compute error parameters. From the result of simulating error compensation cooperate with inverse kinematic error modeling, so as to improve accuracy on machine tool.