Machining Performance of Robot-Type Machine Tool Consisted of Parallel and Serial Links Based on Calibration of Kinematics Parameters
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- Nagao Keisuke
- Kanazawa Institute of Technology
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- Fujiki Nobuaki
- Kanazawa Institute of Technology
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- Tanaka Hiroto
- Kanazawa Institute of Technology
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- Hayashi Akio
- Kanazawa Institute of Technology
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- Yamaoka Hidetaka
- Kanazawa Institute of Technology
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- Morimoto Yoshitaka
- Kanazawa Institute of Technology
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抄録
<p>This study aims to calibrate the posture of a robot-type machine tool comprising parallel and serial links using a kinematics error model and verify the machining performance based on the measurement results of a machined workpiece calibrated with kinematics parameters. A robot-type machine tool (XMINI, Exechon Enterprises LLC) is used in this study. Typically, the performance required of a robot-type machine tool is not only dimensional accuracy but also the contour accuracy of the machined workpiece. Therefore, in this study, we first construct a forward kinematics model of a robot-type machine tool and identify the kinematics parameters used in it via spatial positioning experiments using a coordinate measuring machine. Based on the parameter identification results, we calibrate this robot-type machine tool and evaluate its machining performance in terms of the dimensional accuracy and contour accuracy of the machined workpiece.</p>
収録刊行物
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- International Journal of Automation Technology
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International Journal of Automation Technology 15 (5), 611-620, 2021-09-05
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