Open AccessError analysis and kinematic calibration of a new 3-PRS parallel mechanism
Author(s) -
Fuchun Sun,
Guoqiang Chen,
Shui-Sheng Chen,
Yongsheng Li,
Jingshuai Yuan,
Qin Zhang
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1633/1/012048
Subject(s) - kinematics , calibration , mechanism (biology) , computer science , position (finance) , inverse kinematics , matlab , debugging , machine tool , inverse , algorithm , control theory (sociology) , simulation , artificial intelligence , geometry , mathematics , engineering , mechanical engineering , physics , statistics , classical mechanics , control (management) , finance , quantum mechanics , economics , programming language , operating system
Taking a new 3-PRS parallel mechanism as the research object, error analysis and kinematics calibration are carried out. Combining with inverse kinematics, the parameter error of the mechanism is analyzed comprehensively. a calibration method of inverse kinematics based on structural parameters and genetic algorithm is proposed, and the error calibration model of 3-PRS parallel mechanism is deduced. The calculation by MATLAB shows that the reverse motion error calculated by nominal machine tool structural parameters is larger than that obtained by calibrated structural parameters. The position of the three cylindrical and spherical hinges after calibration is closer to the nominal position. It shows that the error calibration can correct the machine tool structure and guide the subsequent installation and debugging of the machine tool.