Machining Performance of Robot-Type Machine Tool Consisted of Parallel and Serial Links Based on Calibration of Kinematics Parameters
| Autor: | Hidetaka Yamaoka, Hiroto Tanaka, Keisuke Nagao, Akio Hayashi, Nobuaki Fujiki, Yoshitaka Morimoto |
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| Rok vydání: | 2021 |
| Předmět: |
Forward kinematics
business.product_category Calibration (statistics) Computer science Mechanical Engineering ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Kinematics Type (model theory) Industrial and Manufacturing Engineering Machine tool Computer Science::Robotics Machining Robot business Simulation |
| Zdroj: | International Journal of Automation Technology. 15:611-620 |
| ISSN: | 1883-8022 1881-7629 |
| Popis: | This study aims to calibrate the posture of a robot-type machine tool comprising parallel and serial links using a kinematics error model and verify the machining performance based on the measurement results of a machined workpiece calibrated with kinematics parameters. A robot-type machine tool (XMINI, Exechon Enterprises LLC) is used in this study. Typically, the performance required of a robot-type machine tool is not only dimensional accuracy but also the contour accuracy of the machined workpiece. Therefore, in this study, we first construct a forward kinematics model of a robot-type machine tool and identify the kinematics parameters used in it via spatial positioning experiments using a coordinate measuring machine. Based on the parameter identification results, we calibrate this robot-type machine tool and evaluate its machining performance in terms of the dimensional accuracy and contour accuracy of the machined workpiece. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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