Calibration Method for a Parallel Mechanism Type Machine Tool by Response Surface Methodology –Consideration via Simulation on a Stewart Platform Mechanism–
Hiroshi Yachi and Hiroshi Tachiya
Graduate School of Natural Science and Technology, Kanazawa University, Kakuma-machi, Kanazawa-shi, Ishikawa 920-1192, Japan
This paper proposes a calibration method for parallel mechanisms using Response Surface Methodology. This method is a statistical approach to estimating an unknown input-output relationship using a small set of efficient data collected on an intended system. Although identifying locations causing positional errors in a parallel mechanism and precisely measuring the position and posture of the output point are difficult, the proposed calibration method based on Response Surface Methodology aims to compensate for positional and postural errors, without indentifying the locations causing these errors, by using a small yet efficient measurement data set. This study analyzes the effectiveness of the method we propose by applying it to a Stewart platform, which is a typical spatial 6-DOF parallel mechanism.
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