パラレルメカニズムを用いた三次元座標測定機の校正に関する研究 : 冗長パッシブジョイントを用いたキャリブレーション

概要

論文の詳細を見る
This study has proposed a new coordinate measuring machine (CMM) based on a three-degree-of-freedom parallel manipulator. This paper describes a kinematic calibration method using a redundant passive prismatic joint with a linear scale unit. The passive joint connects the moving stage to the machine frame. Change in the passive joint's length is measured during traveling of the end effector mounted on the moving stage. The least square method using Jacobian matrix corrects gradually 24 kinematic parameters so that the length errors of the passive joint are minimized. The above calculations have been repeated in numerical simulations. The length error approached a zero level. However, the error was not decreased to less than measurement errors of the scale unit. The calibration has improved the accuracy of the length measurement assuming the use of gauge blocks. Moreover, the influences of measuring point's arrangement and passive joint's configuration on the parameter's accuracy have been investigated in the simulation.
公益社団法人精密工学会の論文
2005-04-05