Journal of South China University of Technology (Natural Science Edition) ›› 2016, Vol. 44 ›› Issue (7): 47-54.doi: 10.3969/j.issn.1000-565X.2016.07.008

• Mechanical Engineering • Previous Articles     Next Articles

Kinematic Calibration of 3-RRR Parallel Mechanism Considering Reducer Backlash

ZHANG Xian-min ZENG Lei   

  1. School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2015-11-25 Revised:2016-03-03 Online:2016-07-25 Published:2016-06-05
  • Contact: 张宪民(1964-)，男，教授，博士生导师，主要从事机构学、精密制造装备与现代化控制技术研究． E-mail:zhangxm@scut.edu.cn
  • About author:张宪民(1964-)，男，教授，博士生导师，主要从事机构学、精密制造装备与现代化控制技术研究．
  • Supported by:
    Supported by the National Natural Science Foundation of China(U1501247)and the Science and Technology Research Projects of Guangdong Province(2014B090917001，2015B020239001)

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Abstract: In order to improve the positioning accuracy of macro parallel platforms,firstly,an error model of 3- RRR parallel mechanism,which takes into consideration the reducer backlash,is derived,and the effectiveness of the proposed model is verified through a comparison with the error model without considering the reducer backlash.Secondly,an experiment is carried out to measure the attitude error of end-effector and to identify the parameters of the two above-mentioned models.Then,IDWM is employed to realize spatial interpolation and error compensation,followed with a kinematic calibration.Finally,the inverse kinematic model is corrected according to kinematic cali- bration results.It is found from the measured posture error distribution of end-effector that the proposed error model considering reducer backlash is superior to that without considering the backlash.The kinematic calibration conside- ring reducer backlash enhances the positioning accuracy of parallel mechanism and provides a theoretical foundation for the development of high-precision macro-micro parallel mechanisms.

Key words: parallel platform, reducer backlash, kinematic calibration, IDWM, posture error, positioning accuracy

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