Autonomous Calibration of Hexapod Machine Tools

[+] Author and Article Information
Hanqi Zhuang, Lixin Liu, Oren Masory

College of Engineering, Florida Atlantic University, Boca Raton, FL 33431

J. Manuf. Sci. Eng 122(1), 140-148 (Nov 01, 1997) (9 pages) doi:10.1115/1.538893 History: Received January 01, 1997; Revised November 01, 1997
Copyright © 2000 by ASME
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An example of the hexapod structure: VARIAX
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The kinematic structure of VARIAX
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The kinematic structure of Stewart platform
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Four-link planner mechanism
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(a) The open chains in the forward kinematics problem. (b) The open chains in the inverse kinematics problem.
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The assignment of coordinate systems
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The average of errors in kinematic parameters (with six redundant sensors)
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The convergence of average error at readable passive joints
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The average errors in poses with modified model (with six redundant sensors)
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The FAU Stewart platform
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Schematic of equipment set-up for verification
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Error distribution at each configuration pair



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