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《Journal of Beijing Jiaotong University》 2007-01
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A New Kind of Algorithm on Parallel Mechanism Structural Errors Detection and Modification

JIANG Hong,CAI Yong-lin,WANG Xiao-chun (School of Mechanical and Electronic Control Engineering,Beijing Jiaotong University,Beijing 100044,China)  
In order to improve the kinematics accuracy of parallel machine tool and to simplify error resource model(including 42 errors),a new kind of algorithm on parallel mechanism structural errors reorganization is proposed in this paper based on the fast algorithm of parallel mechanism forward displacement analysis.Firstly,the parallel mechanism parameters are designed by theory,and the two spherical hinges of cue instrument on the mobile and base platform are fixed up separately.Under the condition that the mobile platform parallels the base platform,the center of spherical hinge of the cue instrument on the mobile platform are moving along a spherical helix corresponding to the center of spherical hinge on the base platform.An m-dimension vector space is constructed in terms of the differences between theory calculation lengths and actual lengths of the cue.Each pending detection parameter has a unit increment in turn,and the construct parameter is modified,which has the highest correlation degree with the measured error at first.The modification efficiency is improved by getting the residual error vector of the major modification vector separated from the measured error vector.Finally,after some annulus modifications,all items errors have been modified until the theory calculation length of the cue after modification is consistent with the actual length by and large.The cue length is only need to be measured in this algorithm;therefore,the measurement workload and the error resource introduced by them are largely reduced.
【CateGory Index】: TG659
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