Kinematic Calibration Of A Novel5-DoF Parallel Manipulator

In order to meet the demands for the high-efficient manufacturing equipmentsof the large structure components in the aircraft and automotive industry, this thesiscarries out the kinematic calibration of a novel5-DoF fully parallel manipulatornamed T5FPM, which includes the inverse position analysis, velocity mappingmodeling, error modeling, sensitivity analysis and home position calibration. Thefollowing work has been accomplished.1. Inverse position analysis and velocity Jacobian matrix analysis. Referring to thetopology structure, the T5FPM is decomposed into main body and rotationhead, and the inverse position models are established resort to the closed-loopvectors method. By means of the screw theory, the full velocity Jacobian matrixof the T5FPM is acquired by formulating the full velocity Jacobian matrix ofthe main body and the rotation head, respectively.2. Error mapping modeling. The error mapping model of the main body and therotation head are formulated on the basis of the screw theory, and then the errormapping model of the T5FPM is obtained by linear superposition of the twoparts. According to the number and type of the DoF, the qualitative analysis iscarried out to identify the geometric errors affecting the uncompensable errorsof T5FPM.3. Sensitivity analysis. By means of the Monte Corlo method, the sensitivityanalysis is carried out by choosing an appropriate probability model and anevaluation index, which demonstrates the influence of geometric errors andzero errors to the uncompensable errors.4. Home position calibration. A laser tracker based zero error identification modelof the T5FPM is formulated, and then an appropriate selecting strategy ofmeasured points is proposed. The results of the numerical simulation and the calibration experiment demonstrate the validity of the error identificationmodel.The contributions of this thesis provide theoretical and technological supportfor the development of the T5FPM.