Development and kinematic calibration for measurement structure of a micro parallel mechanism platform |
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Authors: | Deuk Soo Kang Tae Won Seo Jongwon Kim |
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Affiliation: | (1) School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea |
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Abstract: | This paper presents a micro-positioning platform based on a unique parallel mechanism developed by the authors. The platform
has a meso-scale rectangular shape whose size is 20 × 23 mm. The stroke is 5 mm for both the x-and y-axes and 100 degrees for the α-axis. The platform is actuated by three sets of dual stage linear actuators: a linear motor for rough positioning and a piezo
actuator for fine positioning. The developed micro-positioning platform has a measurement system that consists of three linear
sensors. The position and orientation values of the movable platform can be measured directly and used in a feedback control
system. Selecting 18 kinematic error parameters of a measurement system (feedback control system), a two-stage kinematic calibration
method is proposed. Constant error parameters are found in the first stage and variable error parameters are found in the
second stage of kinematic calibration. After kinematic calibration the position error is reduced to within 0.5 μm and error
reduction rate is over 90%. |
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Keywords: | Parallel mechanism Kinematic analysis Kinematic error parameter Taguchi methodology Kinematic calibration |
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