An Accurate Error Compensation Method for Multi-Axis Parallel Machine Through Singularized Jacobi Geometric Parameter Correction and Coupling Error Evaluation

作     者：Luo, Yuheng Gao, Jian Chen, Disai Zhang, Lanyu 

作者机构：State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangdong University of Technology Guangzhou510006 China Key Laboratory of Intelligent Inspection and Manufacturing IoT of Ministry of Education Guangdong University of Technology Guangzhou510006 China 

出 版 物：《SSRN》 

年 卷 期：2023年

核心收录：

主　　题：Error compensation 

摘      要：Jacobian model is widely used for error compensation of multi-axis parallel mechanisms. However, the deviation between the nominal geometrical parameters and actual parameters in the Jacobi model and the equivalent replacement and high-order rounding operations in Jacobi modeling process will result in the indefinite equation solving problem and modeling error problem, which inevitably induces certain residual errors of the Jacobi model compensation method. To tackle these problems, this paper proposes an optimal Jacobian correction method through a geometrical parameter singularized Jacobian correction model and a coupling error evaluation modular for multi-axis parallel mechanism. In this method, a new singularized geometrical error solution method (SESM) is constructed to obtain the Jacobian correction parameters accurately instead of iteration. The method can solve the indefinite equation problem and partial posture non-solution problem. The SESM can also compensate the modeling error induced by the equivalent infinitesimal replacement and the high-order small amount ignorance operation. Considering that the Jacobian model with different singularized geometrical parameter will have certain coupling effect and result in different compensation effect, a sensitivity-based error predictive evaluation method (EPEM) is proposed to determine the optimal correction parameter of the Jacobian model for the pose of the entire workspace and thus realize an accurate pose error compensation. The proposed method is tested on a three-axis parallel mechanism. Experimental results demonstrated the effectiveness and advancement of the proposed method, which can further reduce the position and orientation error by 64.93% and 55.29%, respectively, by comparison with the uncorrected Jacobian compensation method. This method provides us a new approach for error modeling, equation solving, and parameter correction for multi-axis mechanism error compensation and precision equipment deve