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Geometric error modeling and source error identification methodology for a serial–parallel hybrid kinematic machining unit with five axis

Published online by Cambridge University Press:  28 November 2024

Yifeng Shen ,
Tengfei Tang Open the ORCID record for Tengfei Tang [Opens in a new window] ,
Wei Ye  and
Jun Zhang Open the ORCID record for Jun Zhang [Opens in a new window]
Yifeng Shen
Affiliation:
School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China
Tengfei Tang*
Affiliation:
School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China
Wei Ye
Affiliation:
School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China
Jun Zhang
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
*
Corresponding author: Tengfei Tang; Email: tengfei@zstu.edu.cn
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Abstract

To meet the high-precision positioning requirements for hybrid machining units, this article presents a geometric error modeling and source error identification methodology for a serial–parallel hybrid kinematic machining unit (HKMU) with five axis. A minimal kinematic error modeling of the serial–parallel HKMU is established with screw-based method after elimination of redundant errors. A set of composite error indices is formulated to describe the terminal accuracy distribution characteristics in a quantitative manner. A modified projection method is proposed to determine the actual compensable and noncompensable source errors of the HKMU by identifying such transformable source errors. Based on this, the error compensation and comparison analysis are carried out on the exemplary HKMU to numerically verify the effectiveness of the proposed modified projection method. The geometric error evaluations reveal that the parallel module has a larger impacts on the terminal accuracy of the platform of the HKMU than the serial module. The error compensation results manifest that the modified projection method can find additional compensable source errors and significantly reduce the average and maximum values of geometric errors of the HKMU. Hence, the proposed methodology can be applied to improve the accuracy of kinematic calibration of the compensable source errors and can reduce the difficulty and workload of tolerance design for noncompensable source errors of such serial–parallel hybrid mechanism.

Keywords

error modelinggeometric errorerror identificationhybrid kinematic machining unitsource errorserror compensation
Type
Research Article
Information
Robotica , Volume 43 , Issue 2 , February 2025 , pp. 561 - 581
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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