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Original Article
Qin-Chuan Li
Zhejiang Sci-Tech University
Corresponding Author
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This paper presents a new method for error modeling and studies the kinematic calibration of redundantly actuated parallel kinematic machines (RA-PKM). First, a n-DOF RA-PKM is split into several n-DOF non-redundantly actuated sub-mechanisms by removing actuators in limbs in an ergodic manner without changing the DOF. The error model of the sub-mechanisms is established by differentiating the forward kinematics. Then, the complete error model of the RA-PKM is obtained by a weighted summation of errors for all sub-mechanisms. Finally, a kinematic calibration experiments are performed on a 3-DOF RA-PKM to verify the method of error modeling. The positioning and orientation error of the moving platform is replaced by the positioning error of the tool center point, which was reduced considerably from 3.427 mm to 0.177 mm through kinematic calibration. The experimental results demonstrate the improvement of the kinematic accuracy after kinematic calibration using the proposed error modeling method.
Keywords
Error modeling, Redundant actuation, Sub-mechanism, Kinematic calibration
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Peer Review Timeline
CURRENT STATUS: Under Review
Version 1
Posted 02 Sep, 2020
No community comments so far
Editorial decision: Minor revision
On 13 Mar, 2021
Review #2 received
Received 31 Oct, 2020
Reviewer #2 agreed
On 09 Oct, 2020
Review #1 received
Received 29 Sep, 2020
Reviewers invited
Invitations sent on 16 Sep, 2020
Reviewer #1 agreed
On 16 Sep, 2020
Editor assigned
On 31 Aug, 2020
Submission checks complete
On 30 Aug, 2020
Editor invited
On 30 Aug, 2020
First submitted
On 29 Aug, 2020
Metrics
Comments: 0
PDF Downloads: ...
HTML Views: ...
Subject Areas
Mechanical Engineering
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This preprint is under consideration at Chinese Journal of Mechanical Engineering. A preprint is a preliminary version of a manuscript that has not completed peer review at a journal. Research Square does not conduct peer review prior to posting preprints. The posting of a preprint on this server should not be interpreted as an endorsement of its validity or suitability for dissemination as established information or for guiding clinical practice.
Learn more about In Review
Original Article
Qin-Chuan Li
Zhejiang Sci-Tech University
Corresponding Author
Badges
Prescreen
This manuscript passed our Prescreen assessment
Complete author information
Appropriate declaration statements
Potential risks to human health
Prescreen
Peer Review Timeline
CURRENT STATUS: Under Review
Version 1
Posted 02 Sep, 2020
No community comments so far
Editorial decision: Minor revision
On 13 Mar, 2021
Review #2 received
Received 31 Oct, 2020
Reviewer #2 agreed
On 09 Oct, 2020
Review #1 received
Received 29 Sep, 2020
Reviewers invited
Invitations sent on 16 Sep, 2020
Reviewer #1 agreed
On 16 Sep, 2020
Editor assigned
On 31 Aug, 2020
Submission checks complete
On 30 Aug, 2020
Editor invited
On 30 Aug, 2020
First submitted
On 29 Aug, 2020
Metrics
Comments: 0
PDF Downloads: ...
HTML Views: ...
Subject Areas
Mechanical Engineering
License:
This work is licensed under a CC BY 4.0 License. Read Full License
This paper presents a new method for error modeling and studies the kinematic calibration of redundantly actuated parallel kinematic machines (RA-PKM). First, a n-DOF RA-PKM is split into several n-DOF non-redundantly actuated sub-mechanisms by removing actuators in limbs in an ergodic manner without changing the DOF. The error model of the sub-mechanisms is established by differentiating the forward kinematics. Then, the complete error model of the RA-PKM is obtained by a weighted summation of errors for all sub-mechanisms. Finally, a kinematic calibration experiments are performed on a 3-DOF RA-PKM to verify the method of error modeling. The positioning and orientation error of the moving platform is replaced by the positioning error of the tool center point, which was reduced considerably from 3.427 mm to 0.177 mm through kinematic calibration. The experimental results demonstrate the improvement of the kinematic accuracy after kinematic calibration using the proposed error modeling method.
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
Figure 9
Figure 10
Figure 11
Figure 12
Figure 13
Figure 14
The full text of this article is available to read as a PDF.
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