Abstract
Industrial robots are widely used for part manufacturing besides simple task (welding, assembly). A parallel kinematic machine (PKM) with extending axes have been utilized in large volume machining because of their adequate stiffness and agility. Parallelism error in the PKM with an extending axis causes deterioration of dimensional accuracy of machined parts. This paper proposes a technique for compensating the parallelism error through measurement of the squareness error between the PKM with its extending axes using a laser interferometer. The four squareness errors are estimated to reduce the parallelism errors. The squareness error is calculated by measuring linearity of the extending axis and the PKM moving axis, and through the measurement of diagonal displacement error and position dependent geometric errors. Compensation of the parallelism error was done by transforming the basic coordinate system of the PKM. The parallelism error was significantly reduced from 0.735 to 0.022 mm and further verified experimentally.
Original language | English |
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Pages (from-to) | 975-982 |
Number of pages | 8 |
Journal | Journal of the Korean Society for Precision Engineering |
Volume | 36 |
Issue number | 10 |
DOIs | |
State | Published - 2019 |
Keywords
- Extending axis
- Large volume machining robot
- Laser Interferometer
- Parallel kinematic machine
- Parallelism error