219 フーリエ級数を用いたパラレルメカニズムのキャリブレーション法

概要

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This paper presents a new method of kinematic calibration for high-precision parallel mechanisms that enables to decrease the effect of measurement error on the calibration error and to determine the optimal condition of test paths. We proposed to use low order fourier coefficients that are obtained by transforming the measured data of circular test paths obtained by DBB method. Two nondimensional indices were proposed that evaluate the dependencies among test paths and among the calibration parameters, respectively. An index was also proposed that evaluates the calibration accuracy with consideration of measurement error. We described the usage of these indices in the determination of test paths for calibration. Considering measurement error, simulations of kinematic calibration of a parallel mechanism were carried out, and the results were shown to support the proposed method.
一般社団法人日本機械学会の論文
2001-03-30