Kinematic Calibration And Experimental Research Of 6PUS-UPS Parallel Tool

Precision of the parallel machine tool is the key factor of affecting its industry application. The main errors originate from manufacturing error and assembly error of machine tool bars and hinges, and distribution error of the whole machine. Nonlinear relations exist among these errors. While the most economical and effective method to improve the parallel machine tool precision is the kinematic calibration.Firstly, error modeling theory of the 6PUS-UPS parallel machine tool was analyzed. Then, double frequency dynamic calibration equipment produced by American Agilent Technology Co. Ltd and QC10 ball bar meter produced by Renishaw were adopted to measure the 6PUS-UPS parallel machine tool, and the error sources were analyzed on the basis of the measure results. Digital display dial indicator and frame cushion level produced by Harbin Measure Tool Plant were used to measure the guide way vertical error of the 6PUS-UPS parallel machine tool, and the measure data were processed. Calibration theory arithmetic of the 6PUS-UPS parallel machine tool was studied detailedly according to the error analysis results and the guide way vertical error experimental results. The main principle and step of the genetic algorithm was introduced. Parameter identification algorithm based on genetic algorithm and dynamic error compensation algorithm based on vertical error were elaborated, which were fit for the 6PUS-UPS parallel machine tool combined with its characters.Experiment research of the 6PUS-UPS parallel machine tool was carried on based on the theory analysis. Detail experimental schemes were designed. Vertical venier caliper and ball bar meter were used to measure the 6PUS-UPS parallel machine tool position error. XW-TA1120 dual-axis tilt sensor produced by Beijing Xingwangyuda Technology Co. Ltd was used to of the 6PUS-UPS parallel machine tool were identified by the genetic algorithm according to the measure errors. The identified structure parameter errors were compensated to the machine tool structure parameters. Finally, precision test experiment was carried on. And precisions before the calibration and after that of the 6PUS-UPS parallel machine tool were analyzed contrastively.