Usage of mechanism calibrability in design of parallel kinematical structures

Abstract eng:
The paper deals with the research of the influence of design parameters on calibration of the parallel kinematic machines. The calibrability is introduced as a mechanism property describing the sensitivity of dimension accuracy and end effector positioning accuracy with respect to accuracy of sensor measurements. The optimization of calibrability leads to minimization of the error transfer from sensors to end-effector. The calibrability can be used as a design criterion within the design process of a new redundant or nonredundant parallel kinematical structures as well as for modification of the existing structures. The calibrability has been applied to two practical examples. Firstly the positioning accuracy of the spindle of machine tool Trijoint 900H is improved by modification of selected parameters. Secondly the calibrability is used as a main design criterion of a redundant parallel calibrating and measuring machine RedCaM.

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