ES2448215B1 - Método de calibración de una máquina de cinemática paralela portátil - Google Patents
Método de calibración de una máquina de cinemática paralela portátil Download PDFInfo
- Publication number
- ES2448215B1 ES2448215B1 ES201231186A ES201231186A ES2448215B1 ES 2448215 B1 ES2448215 B1 ES 2448215B1 ES 201231186 A ES201231186 A ES 201231186A ES 201231186 A ES201231186 A ES 201231186A ES 2448215 B1 ES2448215 B1 ES 2448215B1
- Authority
- ES
- Spain
- Prior art keywords
- machine
- legs
- calibration method
- parallel kinematics
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
- B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
- G05B19/4015—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39052—Self calibration of parallel manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50162—Stewart platform, hexapod construction
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
Método de calibración de una máquina de cinemática paralela portátil.#El método comprende los pasos de:#a- posicionar unos medios posicionadores (8, 9), que comprenden al menos tres alojamientos (8, 9), sobre la pieza a mecanizar,#b- posicionar un dispositivito de medida lineal (7) entre cada uno de los alojamientos (8, 9) de los medios posicionadores (8, 9) y un soporte de apoyo (10) de la máquina,#c- aumentar la longitud de una pata (3) de la máquina una pequeña distancia,#d- medir la elongación de cada uno de los dispositivos de medida lineal (7),#e- repetir los pasos c) y d) para todas las patas (3) de la máquina,#f- determinar una posición aproximada de las rótulas fijas (5) de la máquina en base a las medidas obtenidas en el paso e),#g- calcular tos desplazamientos máximos para cada una de las patas (3),#h- aumentar la longitud do una pata (3) de la máquina en la longitud calculada en el paso g),#i- medir la elongación de cada uno de los dispositivos de medida lineal (7),#j- repetir los pasos h) y i) para todas las patas (3) de la máquina,#k- determinación de la posición de las rótulas fijas (5) de la máquina en base a las medidas obtenidas en el paso j).
Description
Claims (1)
-
imagen1 imagen2 imagen3
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES201231186A ES2448215B1 (es) | 2012-07-24 | 2012-07-24 | Método de calibración de una máquina de cinemática paralela portátil |
GB1312449.0A GB2505558B (en) | 2012-07-24 | 2013-07-11 | Method for calibrating a portable parallel kinematic machines |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES201231186A ES2448215B1 (es) | 2012-07-24 | 2012-07-24 | Método de calibración de una máquina de cinemática paralela portátil |
Publications (3)
Publication Number | Publication Date |
---|---|
ES2448215A2 ES2448215A2 (es) | 2014-03-13 |
ES2448215R1 ES2448215R1 (es) | 2014-05-09 |
ES2448215B1 true ES2448215B1 (es) | 2015-04-01 |
Family
ID=49081144
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES201231186A Expired - Fee Related ES2448215B1 (es) | 2012-07-24 | 2012-07-24 | Método de calibración de una máquina de cinemática paralela portátil |
Country Status (2)
Country | Link |
---|---|
ES (1) | ES2448215B1 (es) |
GB (1) | GB2505558B (es) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018124898A1 (de) * | 2018-10-09 | 2020-04-09 | Physik Instrumente (Pi) Gmbh & Co. Kg | Verfahren und Anordnung zur hochgenauen Kalibrierung einer Parallelkinematik |
CN109746920B (zh) * | 2019-03-06 | 2021-12-24 | 南京航空航天大学 | 一种基于两步法的工业机器人几何参数误差标定方法 |
DE102020104731A1 (de) * | 2020-02-24 | 2021-08-26 | Physik Instrumente (PI) GmbH & Co KG | Kompaktes 6-Achs-Positioniersystem |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1999028097A1 (en) * | 1997-12-01 | 1999-06-10 | Giddings & Lewis, Inc. | System and method for calibrating a hexapod positioning device |
US6587802B1 (en) * | 1998-09-17 | 2003-07-01 | Dr. Johannes Heidenhain Gmbh | Calibration device for a parallel kinematic manipulator |
US20050038563A1 (en) * | 2003-08-16 | 2005-02-17 | Abdul Rauf | Device and method for kinematic calibration of robots |
JP4464318B2 (ja) * | 2005-05-16 | 2010-05-19 | オークマ株式会社 | パラレルメカニズム機械のキャリブレーション方法 |
JP4638327B2 (ja) * | 2005-10-17 | 2011-02-23 | 新日本工機株式会社 | パラレルメカニズム装置、パラレルメカニズム装置のキャリブレーション方法、キャリブレーションプログラム、及び記録媒体 |
GB0818635D0 (en) * | 2008-10-13 | 2008-11-19 | Rolls Royce Plc | Machine tool |
-
2012
- 2012-07-24 ES ES201231186A patent/ES2448215B1/es not_active Expired - Fee Related
-
2013
- 2013-07-11 GB GB1312449.0A patent/GB2505558B/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
GB2505558A (en) | 2014-03-05 |
ES2448215A2 (es) | 2014-03-13 |
GB2505558B (en) | 2016-11-30 |
GB201312449D0 (en) | 2013-08-28 |
ES2448215R1 (es) | 2014-05-09 |
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