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Title: A Model Of Parallel Kinematics For Machine Calibration
Authors: Hansen, Hans Norgaard
Christensen, Simon Klove
Nielsen, Jakob Skov
Pedersen, David Bue
Nielsen, Morten Baek
Keywords: Virtual Machine
Parallel Kinematics
Issue Date: 2016
Source: Pedersen, D. B., Nielsen, M. B., Christensen, S. K., Nielsen, J. S., & Hansen, H. N. (2016). A Model Of Parallel Kinematics For Machine Calibration. Proceedings of the 2nd International Conference on Progress in Additive Manufacturing (Pro-AM 2016), 507-512.
Abstract: Parallel kinematics have been adopted by more than 25 manufacturers of high-end desktop 3D printers [Wohlers Report (2015), p.118] as well as by research projects such as the WASP project[WASP (2015)], a 12 meter tall linear delta robot for Additive Manufacture of large scale components for construction engineering applications. The parallel kinematics of a linear delta robot has the potential to out-complete Cartesian point-based deposition systems with respect of acceleration- and thus repositioning speeds since the primary movable mass in these types of systems can be kept to a minimum. The aim of this research is to address one of the primary disadvantages to parallel kinematics systems. Calibration and Geometric validation. Calibration of a delta robot can be a source of frustration. This research aim to provide the operator with a strong tool for easing this task. The kinematics and calibration of delta robots, in particular, are less researched than that of traditional Cartesian robots, for which tried-and-true methods for calibrating are well known. A forwards and reverse virtual model of a delta robot has been developed in order to decompose the different types of geometrical errors into 6 elementary cases. Deliberate introduction of errors to the virtual machine has subsequently allowed for the generation of deviation plots that can be used as a strong tool for the identification and correction of geometrical errors on a physical machine tool.
Rights: © 2016 by Pro-AM 2016 Organizers. Published by Research Publishing, Singapore
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:Pro-AM Conference Papers

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