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Kinematic calibration of a hexapod of simple design

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Abstract

To benefit from the advantages of parallel kinematic machines (PKM) in industrial applications an efficient kinematic calibration is of particular importance. In this paper a new approach for kinematic calibration of PKM is presented that has been developed and successfully tested on a hexapod at the IWM Dresden. The approach particularly respects the concept of simple design that aims at a cost-effective and economic over-all solution. Aspects of calibration that are in many cases not explicitly accounted for are considered. A simple and robust double-ball-bar (DBB) is used for data acquisition while continuously moving the platform on a specific trajectory in 6 degrees of freedom (dof). The measuring trajectory is optimized to ensure the identifiability of kinematic parameters, respecting their sensitivity and orthogonality in the workspace. Parameter identification is based on Genetic algorithms with customized genetic operators as well as real and simulated measurements. A significant rise of motion accuracy was obtained in the whole workspace.

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Authors and Affiliations

  1. Institute of Machine Tools and Control Technology, Helmholtzstrasse 7a, 01069, Dresden, Germany

    Knut Großmann, Bernd Kauschinger & Szabolcs Szatmári

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  1. Knut Großmann
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  2. Bernd Kauschinger
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  3. Szabolcs Szatmári
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Corresponding author

Correspondence to Bernd Kauschinger.

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We would like to thank the German Research Foundation (DFG) for their kind support.

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Großmann, K., Kauschinger, B. & Szatmári, S. Kinematic calibration of a hexapod of simple design. Prod. Eng. Res. Devel. 2, 317–325 (2008). https://doi.org/10.1007/s11740-008-0092-6

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  • DOI: https://doi.org/10.1007/s11740-008-0092-6

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