3자유도 병렬기구의 위치오차 보정기술에 관한 연구
- Title
- 3자유도 병렬기구의 위치오차 보정기술에 관한 연구
- Other Titles
- A Study on the Error Compensation of Three-DOF Translational Parallel Manipulator
- Author
- 조남규
- Keywords
- Parallel Manipulator; 병렬형 매니퓰레이터; Error Compensation; 오차 보정; Coordinate Measuring Machine; CMM; 3차원 좌표 측정기; Geometric Erro; 기하학적 오차
- Issue Date
- 2004-06
- Publisher
- 한국생산제조학회
- Citation
- 한국공작기계학회 논문집, v. 13, No. 3, Page. 44-52
- Abstract
- This paper proposed a error compensation methodology for three-DOF translational parallel manipulator. The proposed method uses CMM (coordinate measuring machine) as metrology equipment to measure the position of end-effector. To identify the transform relationships between the coordinate system of the parallel manipulator and the CMM coordinate system, a new coordinate referencing (or coordinate system identification) technique is presented. By using this technique, accurate coordinate transformation relationships are efficiently established. According to these coordinate transformation relationships, an equation to calculate the compensating error components at any arbitrary position of the end-effector is derived. In this paper, Monte Carlo simulation method is applied to simulate the compensation process. Through the simulation results, the proposed error compensation method proves its effectiveness and feasibility.
- URI
- https://repository.hanyang.ac.kr/handle/20.500.11754/151066http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00925565
- ISSN
- 2508-5093
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > MECHANICAL ENGINEERING(기계공학과) > Articles
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