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    Geometric Error Compensation With a Six Degree-of–Freedom Rotary Magnetic Actuator

    Source: Journal of Manufacturing Science and Engineering:;2018:;volume( 140 ):;issue: 011::page 111016
    Author:
    Yuen, Alexander
    ,
    Altintas, Yusuf
    DOI: 10.1115/1.4040938
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper presents a methodology to compensate the tooltip position errors caused by the geometric errors of a three-axis gantry type micromill integrated with a six degree-of-freedom (6DOF) rotary magnetic table. A geometric error-free ideal forward kinematic model of the nine-axis machine has been developed using homogenous transformation matrices (HTMs). The geometric errors of each linear axis, which include one positioning, two straightness, pitch, roll, and yaw errors, are measured with a laser interferometer and fit to quintic polynomial functions in the working volume of the machine. The forward kinematic model is modified to include the geometric errors which, when subtracted from the ideal kinematic model, gives the deviation between the desired tooltip position with and without geometric errors. The position commands of the six degree-of-freedom rotary magnetic table are modified in real time to compensate for the tooltip deviation using a gradient descent algorithm. The algorithm is simulated and verified experimentally on the nine-axis micromill controlled by an in-house developed virtual/real-time open computer numerical controlled (CNC) system.
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      Geometric Error Compensation With a Six Degree-of–Freedom Rotary Magnetic Actuator

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4252129
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    contributor authorYuen, Alexander
    contributor authorAltintas, Yusuf
    date accessioned2019-02-28T11:03:08Z
    date available2019-02-28T11:03:08Z
    date copyright8/31/2018 12:00:00 AM
    date issued2018
    identifier issn1087-1357
    identifier othermanu_140_11_111016.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4252129
    description abstractThis paper presents a methodology to compensate the tooltip position errors caused by the geometric errors of a three-axis gantry type micromill integrated with a six degree-of-freedom (6DOF) rotary magnetic table. A geometric error-free ideal forward kinematic model of the nine-axis machine has been developed using homogenous transformation matrices (HTMs). The geometric errors of each linear axis, which include one positioning, two straightness, pitch, roll, and yaw errors, are measured with a laser interferometer and fit to quintic polynomial functions in the working volume of the machine. The forward kinematic model is modified to include the geometric errors which, when subtracted from the ideal kinematic model, gives the deviation between the desired tooltip position with and without geometric errors. The position commands of the six degree-of-freedom rotary magnetic table are modified in real time to compensate for the tooltip deviation using a gradient descent algorithm. The algorithm is simulated and verified experimentally on the nine-axis micromill controlled by an in-house developed virtual/real-time open computer numerical controlled (CNC) system.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleGeometric Error Compensation With a Six Degree-of–Freedom Rotary Magnetic Actuator
    typeJournal Paper
    journal volume140
    journal issue11
    journal titleJournal of Manufacturing Science and Engineering
    identifier doi10.1115/1.4040938
    journal fristpage111016
    journal lastpage111016-10
    treeJournal of Manufacturing Science and Engineering:;2018:;volume( 140 ):;issue: 011
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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