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Calibration of a parallel mechanism in a serial-parallel polishing machine tool based on genetic algorithm

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Abstract

The calibration is very important to improve the accuracy of the parallel mechanism. This paper proposed a new calibration approach for the parallel mechanism based on the direct kinematics model and the genetic algorithm. The proposed calibration approach avoids the measurement of the absolute position/posture of the moving platform in the calibration. Firstly, the ideal kinematics model, as well as the kinematics model with errors, of the parallel mechanism in the hybrid machine tool is established. Due to the absence of an analytical solution to the direct kinematics, the Newton iterative method is used to provide a solution. Since the calibration of the parallel mechanism can be regarded as a discrete optimization problem of multiple designed variables, the genetic algorithm is specifically used to identify the parameters in the kinematics model. Finally, the calibration experiment is carried out to verify the effectiveness of the proposed method. According to the experimental results, the positioning error of the parallel mechanism is largely reduced from 0.083 to 0.018 mm.

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Authors and Affiliations

  1. Robotics and Micro-systems Research Center, Soochow University, Suzhou, 215021, China

    Cheng Fan & Lining Sun

  2. College of Mechanical Science and Engineering, Jilin University, Changchun, 130022, China

    Guoliang Zhao, Ji Zhao & Lei Zhang

  3. Pan Asia Technical Automotive Center, Shanghai, 201201, China

    Guoliang Zhao

Authors
  1. Cheng Fan
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  2. Guoliang Zhao
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  3. Ji Zhao
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  4. Lei Zhang
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  5. Lining Sun
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Correspondence to Guoliang Zhao.

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Fan, C., Zhao, G., Zhao, J. et al. Calibration of a parallel mechanism in a serial-parallel polishing machine tool based on genetic algorithm. Int J Adv Manuf Technol 81, 27–37 (2015). https://doi.org/10.1007/s00170-015-7150-y

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  • DOI: https://doi.org/10.1007/s00170-015-7150-y

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