2918 最大位置決め誤差推定に基づくパラレルメカニズムの最適キャリブレーション(S55 パラレルメカニズムとその応用,S55 パラレルメカニズムとその応用)

概要

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The purpose of this research is a contribution to the mechanism synthesis in a system design by evaluating positioning accuracy of parallel mechanisms after kinematic calibration. In order to realize high positioning accuracy of a mechanism after kinematic calibration, it is necessary to select the optimal measurement condition based on considering the operation performed by the mechanism in the system. So, we developed an evaluation method of the positioning accuracy of a mechanism after kinematic calibration and proposed an estimation index for the positioning accuracy of a mechanism after kinematic calibration. The effectiveness of the method and index was confirmed through simulations.
2007-09-07