パラレルメカニズム形機械のフレームの変形補正に関する研究（アッベの原理に基づく補正装置の改良）
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概要
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This study deals with a compensation method for elastic and thermal deformations of the machine frame supporting the mechanism of the parallel kinematic machine (PKM). These deformations caused by external forces and heat in operation produce considerable relative motion errors between the tool and the workpiece of the machine. In the proposed method, three displacement sensors with Super-Invar rods measure distance variations among three spherical joints connecting the mechanism. Thus, the base platform's dimensions of the PKM are corrected by these measured distance variations. Moreover, six other displacement sensors with rods measure the distance variations between the machine's surface plate and the three joints. Therefore, the forward kinematics of the hexapod mechanism calculates displacement and attitude variations of the base platform in operation from these measured displacements. Consequently, coordinates of the PKM's end effector can be compensated by the dimensions, the displacement, and the attitude of the base platform in operation. In this paper, the above system was improved for an experimental coordinate measuring machine using a three-degree of freedom parallel manipulator. Mainly, each sensor with rod was rearranged based on the Abbe's principle to minimize the offsets between the sensor axis and the joint. Coordinate measurements using a master ball mounted on the surface plate showed that this device decreased the influences of temperature fluctuation and external force on machine accuracy.
- 一般社団法人 日本機械学会の論文