GB2505558B - Method for calibrating a portable parallel kinematic machines - Google Patents

Method for calibrating a portable parallel kinematic machines

Info

Publication number
GB2505558B
GB2505558B GB1312449.0A GB201312449A GB2505558B GB 2505558 B GB2505558 B GB 2505558B GB 201312449 A GB201312449 A GB 201312449A GB 2505558 B GB2505558 B GB 2505558B
Authority
GB
United Kingdom
Prior art keywords
calibrating
parallel kinematic
portable parallel
kinematic machines
machines
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
Application number
GB1312449.0A
Other versions
GB201312449D0 (en
GB2505558A (en
Inventor
Urberuaga Olarra
Garcia Lopez
Ezenarro Azkorbebeitia
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fundacion Tekniker
Original Assignee
Fundacion Tekniker
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fundacion Tekniker filed Critical Fundacion Tekniker
Publication of GB201312449D0 publication Critical patent/GB201312449D0/en
Publication of GB2505558A publication Critical patent/GB2505558A/en
Application granted granted Critical
Publication of GB2505558B publication Critical patent/GB2505558B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • 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
    • 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)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Length Measuring Devices By Optical Means (AREA)
GB1312449.0A 2012-07-24 2013-07-11 Method for calibrating a portable parallel kinematic machines Expired - Fee Related GB2505558B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ES201231186A ES2448215B1 (en) 2012-07-24 2012-07-24 CALIBRATION METHOD OF A PORTABLE PARALLEL KINEMATICS MACHINE

Publications (3)

Publication Number Publication Date
GB201312449D0 GB201312449D0 (en) 2013-08-28
GB2505558A GB2505558A (en) 2014-03-05
GB2505558B true GB2505558B (en) 2016-11-30

Family

ID=49081144

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1312449.0A Expired - Fee Related GB2505558B (en) 2012-07-24 2013-07-11 Method for calibrating a portable parallel kinematic machines

Country Status (2)

Country Link
ES (1) ES2448215B1 (en)
GB (1) GB2505558B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018124898A1 (en) * 2018-10-09 2020-04-09 Physik Instrumente (Pi) Gmbh & Co. Kg Method and arrangement for high-precision calibration of parallel kinematics
CN109746920B (en) * 2019-03-06 2021-12-24 南京航空航天大学 Industrial robot geometric parameter error calibration method based on two-step method
DE102020104731A1 (en) * 2020-02-24 2021-08-26 Physik Instrumente (PI) GmbH & Co KG Compact 6-axis positioning system

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060254364A1 (en) * 2005-05-16 2006-11-16 Okuma Corporation Calibration method for a parallel kinematic mechanism machine
US20110194906A1 (en) * 2008-10-13 2011-08-11 Rolls-Royce Plc Machine tool

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1034066A1 (en) * 1997-12-01 2000-09-13 Giddings & Lewis 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
JP4638327B2 (en) * 2005-10-17 2011-02-23 新日本工機株式会社 Parallel mechanism device, parallel mechanism device calibration method, calibration program, and recording medium

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060254364A1 (en) * 2005-05-16 2006-11-16 Okuma Corporation Calibration method for a parallel kinematic mechanism machine
US20110194906A1 (en) * 2008-10-13 2011-08-11 Rolls-Royce Plc Machine tool

Also Published As

Publication number Publication date
GB201312449D0 (en) 2013-08-28
GB2505558A (en) 2014-03-05
ES2448215A2 (en) 2014-03-13
ES2448215R1 (en) 2014-05-09
ES2448215B1 (en) 2015-04-01

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Legal Events

Date Code Title Description
PCNP Patent ceased through non-payment of renewal fee

Effective date: 20190711