In this paper, error sensitivity analysis is discussed for the purpose of optimal calibration of parallel kinematic machines (PKMs). The idea is to find a less error sensitive area in the workspace for calibration. To do so, an error model is developed that takes into consideration all the geometric errors due to imprecision in manufacturing and assembly. Based on this error model, it is shown that the error mapping from the geometric errors to the pose error of the PKM depends on the Jacobian inverse. The Jacobian inverse would introduce spurious errors that would affect the calibration results, if used without proper care. Hence, it is suggested to select the areas in the workspace with smaller condition numbers for calibration. A case study is presented to illustrate the proposed method.
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ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 29–October 2, 2002
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-3622-3
PROCEEDINGS PAPER
Error Sensitivity Analysis for Optimal Calibration of Parallel Kinematic Machines
Fengfeng Xi,
Fengfeng Xi
National Research Council of Canada, London, Ontario, Canada
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Marcel Verner,
Marcel Verner
National Research Council of Canada, London, Ontario, Canada
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Chris Mechefske
Chris Mechefske
Queen’s University, Kingston, Ontario, Canada
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Fengfeng Xi
National Research Council of Canada, London, Ontario, Canada
Marcel Verner
National Research Council of Canada, London, Ontario, Canada
Chris Mechefske
Queen’s University, Kingston, Ontario, Canada
Paper No:
DETC2002/DAC-34113, pp. 745-752; 8 pages
Published Online:
June 18, 2008
Citation
Xi, F, Verner, M, & Mechefske, C. "Error Sensitivity Analysis for Optimal Calibration of Parallel Kinematic Machines." Proceedings of the ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 28th Design Automation Conference. Montreal, Quebec, Canada. September 29–October 2, 2002. pp. 745-752. ASME. https://doi.org/10.1115/DETC2002/DAC-34113
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