WIT Press


Measuring The Geometric Errors Of A Hexapod Machine Tool

Price

Free (open access)

Paper DOI

10.2495/LAMDAMAP990161

Volume

23

Pages

14

Published

1999

Size

1,386 kb

Author(s)

J.A. Soons

Abstract

This paper describes procedures to measure the geometric errors of parallel kinematic machines with a Gough configuration. The procedures are applied to estimate and compensate the errors of a prototype hexapod milling machine. 1 Introduction Hexapod machine tools provide controlled motion of a spindle platform in six degrees of freedom by a parallel arrangement of six legs, each with one active joint. In this paper we consider hexapods with a Gough configuration: the active joint is a linear actuator that is connected to the base and the platform through universal and spherical joints (Figure 1). These passive joints allow rotational movements such that each leg realizes only one constraint: that of a distance. The parallel arrangement of actuators, and the simplicity of distance as a

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