Study of Kinematic Calibration Method for Parallel Mechanism (1st Report) —Kinematic Calibration using Inverse Kinematics—

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Study of Kinematic Calibration Method for Parallel Mechanism (1st Report) —Kinematic Calibration using Inverse Kinematics—

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This paper deals with the kinematic calibration for parallel mechanisms using inverse kinematics. The calibration method newly developed in this paper is based on solving simultaneous equations which consists of inverse kinematic functions. This method reduces the position and orientation errors of parallel mechanisms, which caused by the deviations of kinematic parameters such as a rod length or a slide fixed angle. This study has been achieved for parallel mechanism based milling machine, HexaM, developed by our company. The principle of this method is first described, then the validity of this method is verified by simulations and experiments performed on HexaM.

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《精密工学会誌》 |2000年第6期|950-954|共5页
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正文语种日语
中图分类机械制造工艺;
关键词
parallel mechanism; kinematic parameter; calibration; inverse kinematics; HexaM;

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Study of Kinematic Calibration Method for Parallel Mechanism (1st Report) —Kinematic Calibration using Inverse Kinematics—

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