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[학술저널]

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이훈희(한국생산기술연구원) 이동목(맥스로텍) 양승한(경북대학교)

DOI : 10.7736/KSPE.2019.36.10.975

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초록

Industrial robots are widely used for part manufacturing besides simple task (welding, assembly). A parallel kinematic machine (PKM) with extending axes have been utilized in large volume machining because of their adequate stiffness and agility. Parallelism error in the PKM with an extending axis causes deterioration of dimensional accuracy of machined parts. This paper proposes a technique for compensating the parallelism error through measurement of the squareness error between the PKM with its extending axes using a laser interferometer. The four squareness errors are estimated to reduce the parallelism errors. The squareness error is calculated by measuring linearity of the extending axis and the PKM moving axis, and through the measurement of diagonal displacement error and position dependent geometric errors. Compensation of the parallelism error was done by transforming the basic coordinate system of the PKM. The parallelism error was significantly reduced from 0.735 to 0.022 mm and further verified experimentally.

목차

1. 서론
2. 대형 체적 가공을 위한 로봇의 기구학 모델
3. 레이저 간섭계를 활용한 평행도 오차 측정과 직각도 오차 추정
4. 실험
5. 결론
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