Parallel kinematic machine, calibration method of parallel kinematic machine, and calibration program product

• Main Authors: NISHIBASHI, NOBUTAKA, YAGI, KAZUAKI
• Format: Patent
• Language: English; French; German
• Published: 11.03.2009
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

A parallel kinematic machine (1) is provided with: a parallel kinematic mechanism including a base (10), an end effecter (20), and a parallel link mechanism (31-36); a numerical control device (100) for controlling a position and an orientation of the end effecter (20) by driving the driver shafts based on kinematics of the parallel kinematic mechanism (4); a posture setter for setting an adjustment tool (50) attached to the end effecter (20) in a known posture in a reference coordinate system (X,Y,Z) defined outside of the parallel kinematic mechanism (4) based on a predetermined measurement method, an axis of the end effecter and an axis of the adjustment tool (50) being in agreement with each other; a data acquirer (114) for acquiring data that has a form in accordance with a measurement method selecting code for designating the measurement method used by the posture setter in setting the adjustment tool (50) in the known posture, and defines a correlation between kinematic parameters necessary for the kinematics of the parallel kinematic mechanism (4), and the reference coordinate system (X,Y,Z); and a calculator (113) for calculating at least the kinematic parameters based on the acquired data by directly using a relational expression describing forward kinematics of the parallel kinematic mechanism (4).