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Automated error analysis of serial manipulators and servo heads

Freeman, J.M. and Ford, Derek G. (2003) Automated error analysis of serial manipulators and servo heads. Proceedings of the Institute of Mechanical Engineering Part C, 217 (9). pp. 1077-1084. ISSN 0954-4062

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Abstract

This paper presents a general mathematical treatment of serial manipulators, an
important example of which is the servo head. The paper includes validation by application to the
angle head via comparison with the previously known transformations and a new application to the
error analysis of the angle head.
The usual approach to the error analysis of a servo head is to develop a geometrical model by
elementary geometrical considerations using trigonometric relationships and various simplifying
assumptions. This approach is very error prone, difŽ cult to verify and extremely time consuming. The
techniques described here constitute matrix methods that have been programmed in a general way to
derive automatically the analytical equations relating the angles of rotation of the head and alignment
errors in the head to the position of the tool and errors in that position. The approach is to use
rotation and transformation matrices to evaluate the in� uence of the various errors such as offsets
and angular errors. A general approach to the sign convention and notation for angular errors is
presented in an attempt to reduce the possibility of errors of deŽ nition.

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Item Type: Article
Additional Information: © IMechE 2003
Subjects: T Technology > TJ Mechanical engineering and machinery
Schools: School of Computing and Engineering
School of Computing and Engineering > Centre for Precision Technologies
School of Computing and Engineering > Centre for Precision Technologies > Engineering Control and Machine Performance Research Group
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References: 1 Postlethwaite, S. R. Electronic based accuracy enhancement of CNC machine tools. PhD thesis, The University of HuddersŽ eld, 1992. 2 Ford, D. G., Postlethwaite, S. R. and Morton, D. Error compensation applied to high precision machinery. In Proceedings of the 1st International Conference on Laser Metrology and Machine Performance—LAMDAMAP ’93, 1993, pp. 105–112 (Computational Mechanics Publications, Southampton and Boston). 3 Chen, X. B. and Geddam, A. Accuracy improvement of three-axis CNC machining centers by quasi-static error compensation. J. Mfg Systems, 1997, 16(5), 323– 336. 4 Postlethwaite, S. R. and Ford, D. G. Geometric error analysis software for CNC machine tools. In Proceedings of the 3rd International Conference on Laser Metrology and Machine Performance—LAMDAMAP ’97, 1997, pp. 305–316 (Computational Mechanics Publications, Southampton and Boston). 5 Postlethwaite, S. R. Five axis error compensation training course. Internal Report, Ultra Precision Engineering Centre, The University of HuddersŽ eld, 1999. 6 Postlethwaite, S. R. and Ford, D. G. A practical system for 5 axis volumetric compensation. In Proceedings of the 4th International Conference on Laser Metrology and Machine Performance—LAMDAMAP ’99, Longhirst Hall, Northumberland, 1999, pp. 379–388. 7 Postlethwaite, S. R. Calculation of head offsets for angle-type servo head. Internal Report, Ultra Precision Engineering Centre, The University of HuddersŽ eld, 1999.
Depositing User: Briony Heyhoe
Date Deposited: 26 Jul 2007
Last Modified: 29 Mar 2018 16:16
URI: http://eprints.hud.ac.uk/id/eprint/318

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