Kinematic Calibration of Hybrid Machine Tool for Marine Propellers Processing

Abstract:

To increase the precision and the processing efficiency of large-scale marine propeller, the method of twin-tool symmetrical processing is proposed based on hybrid mechanism. With the introduction of mechanism compositions of the machine tool, the calibration method of the structural parameters is researched. The serial and parallel mechanisms of the hybrid mechanism are calibrated separately for the coupled motion. Their structural error models are established and identification methods of structural parameters are analyzed. And nonlinear equations are solved by using the Levenberg-Marquardt optimization algorithm to obtain the structural parameters. Finally, in ADAMS, hybrid machine tool model with structural parameter errors is established. And the pose errors of the tool are acquired in kinematics simulation. After that, the structural parameters errors of the machine tool are compensated by calibrating. Then, the error models and the parameter identification methods are proved to be accurate. Meanwhile, the correctness and effectiveness of the calibration method is proved.

• Periodical: Applied Mechanics and Materials (Volumes 602-605)
• Pages: 653-661
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.602-605.653
• Online since: August 2014
• Authors: Yue Ying Ren, Rui Wang*, Shi Sheng Zhong, Jian Min Wen
• Keywords: Error Model, Hybrid Machine Tool, Kinematic Calibration, Marine Propeller Processing, Parameter Identification

References

[1] R. Wang: Research of Cutter Pose and Orientation Control Algorithms for New Marine Propeller Processing Device. Journal of Harbin Engineering University, 35(1) (2014), pp.1-4. (in Chinese).

[2] A.C. Majarena, J. Santolaria, D. Samper and et al: An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms. Sensors, 10(11) (2010), pp.10256-10297.

DOI: 10.3390/s101110256

[3] F. Gao, Y. Li, Y.M. Huang, X.G. Yang and X.J. Cai: Study on Kinematic Calibration Method of 3-RPS Parallel Mechanism. Chinese Journal of Scientific Instrument, 33(3) (2012), pp.568-574. (in Chinese).

[4] J.M. Renders, E. Rossignol, M. Becquet and et al: Kinematic calibration and geometrical parameter identification for robots. Robotics and Automation, IEEE Transactions on, 7(6) (1991), pp.721-732.

DOI: 10.1109/70.105381

[5] F. Gao, W. Li, X. Zhao and et al: New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs. Mechanism and Machine Theory, 37(11) (2002), pp.1395-1411. (in Chinese).

DOI: 10.1016/s0094-114x(02)00044-7

[6] S.S. Zhong, X.J. Yang and Z.X. Wang: Research on Calibration Method Based on 6-TPS Type Parallel Machine Tool. Computer Integrated Manufacturing Systems, 11(10) (2006), pp.1469-1474. (in Chinese).