Uncertainty Propagation in Calibration of Parallel Kinematic Machines

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Description

Over the last decade, multi-axis machine tools and robots based on parallel kinematic mechanisms (PKMs) have been developed and marketed worldwide. Positional accuracy in these machines is controlled by accurate knowledge of the kinematic parameters which consists of the joint center locations and distances between joint pairs. Since these machines tend to be rather large in size, the kinematic parameters (joint center locations, and initial strut lengths) are difficult to determine when these machines are in their fully assembled state. Work recently completed by the University of Florida and Sandia National Laboratories has yielded a method for determining all of ... continued below

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9 p.

Creation Information

JOKIEL JR.,BERNHARD & ZIERGERT,JOHN C. November 2, 1999.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 12 times . More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM, and Livermore, CA (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

Over the last decade, multi-axis machine tools and robots based on parallel kinematic mechanisms (PKMs) have been developed and marketed worldwide. Positional accuracy in these machines is controlled by accurate knowledge of the kinematic parameters which consists of the joint center locations and distances between joint pairs. Since these machines tend to be rather large in size, the kinematic parameters (joint center locations, and initial strut lengths) are difficult to determine when these machines are in their fully assembled state. Work recently completed by the University of Florida and Sandia National Laboratories has yielded a method for determining all of the kinematic parameters of an assembled parallel kinematic device. This paper contains a brief synopsis of the calibration method created, an error budget, an uncertainty analysis for the recovered kinematic parameters and the propagation of these uncertainties to the tool tip.

Physical Description

9 p.

Notes

OSTI as DE00014380

Medium: P; Size: 9 pages

Source

  • Journal Name: Precision Engineering, American Society for Precision Engineering (ASPE); Other Information: Submitted to Precision Engineering, American Society for Precision Engineering (ASPE)

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  • Report No.: SAND99-2840J
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 14380
  • Archival Resource Key: ark:/67531/metadc618485

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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  • November 2, 1999

Added to The UNT Digital Library

  • June 16, 2015, 7:43 a.m.

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  • April 11, 2017, 8:11 p.m.

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JOKIEL JR.,BERNHARD & ZIERGERT,JOHN C. Uncertainty Propagation in Calibration of Parallel Kinematic Machines, article, November 2, 1999; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc618485/: accessed October 18, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.