The design, kinematics and error modelling of a novel micro-CMM parallel manipulator

• Main Author: Rugbani, Ali Milud
• Other Authors: Schreve, K.
• Format: Others
• Language: en_ZA
• Published: Stellenbosch : Stellenbosch University 2014
• Subjects: Coordinate measuring machines; Error model; Parallel kinematic machines; Dissertations > Mechanical and mechatronic engineering; UCTD; Theses > Mechanical and mechatronic engineering
• Online Access: http://hdl.handle.net/10019.1/86518

Thesis (PhD)--Stellenbosch University, 2014. === ENGLISH ABSTRACT: The research presented in this dissertation establishes a micro-CMM parallel manipulator as a viable positioning device for three degree of freedom micro measurement applications. The machine offers the advantages associated with parallel kinematic manipulators, such as light carrying weight, high stiffness and no accumulation of errors, while avoiding some of the traditional disadvantages of parallel manipulators such as the associated effects of angular errors (Abbé error), singularity problems, work space limitation and the extensive use of spherical joints. In this dissertation, the direct position kinematic solution is developed analytically and the solution of the inverse position kinematic is solved numerically. A workspace analysis has been performed. A fully functional prototype demonstrator is fabricated to demonstrate this machine. While the demonstrator was not intended to achieve submicron accuracy, it was intended to validate the error models. Computer controlled measurement is developed and used to position the probe and to record measurements. A reliable kinematic error model based on the theory of error propagation is derived analytically. A numerical method is used to verify the analytical results. Comparison shows that the results of the error model, both analytical and numerical, represent a very good match and follow the same trend. The kinematic position model is validated using a conventional CMM. Results show that an average difference of less than 0.5 mm over a set of 30 points is achieved. This result of the micro-CMM demonstrator measurements falls within the error budget of approximately 0.75 mm estimated by the proposed analytical error model. === AFRIKAANSE OPSOMMING: Die navorsing in hierdie tesis vestig ‘n mikro-CMM parallelle manipuleerder as ‘n lewensvatbare posisioneringstoestel vir drie vryheidsgraad-mikrometing toepassings. Die masjien bied voordele geassosieer met parallelle kinematiese manipuleerders, bv. ligte dra-gewig, hoë styfheid en geen ophoping van foute nie. Die tradisionele nadele van parallelle manipuleerders soos die geassosieerde gevolge van hoekfoute (Abbé fout), enkelvoudigheidsprobleme, werkspasiebeperking en die uitgebreide gebruik van sferiese koppelings word vermy. In hierdie tesis word die direkte posisie kinematiese oplossing analities ontwikkel en die oplossing van die omgekeerde posisie kinematies word numeries opgelos. ‘n Werkspasie analise is uitgevoer. ‘n Ten volle funksionele prototipe demonstrasie-model is vervaardig om hierdie masjien te demonstreer. Die model is nie vervaardig om submikron akkuraatheid te bereik nie, maar eerder om foutmodelle geldig te verklaar. Rekenaar-beheerde metings is ontwerp en gebruik om die toetspen te posisioneer en om metings te neem. ‘n Betroubare kinematiese foutmodel gebaseer op die teorie van foutvoortplanting is analities afgelei. ‘n Numeriese metode word gebruik om die analitiese resultate te bevestig. Vergelyking toon aan dat die resultate van die foutmodel, beide analities en numeries, goeie pasmaats is en dieselfde tendens volg. Die kinematiese posisie model word geldig verklaar deur gebruik te maak van ‘n konvensionele CMM. Resultate wys dat daar ‘n gemiddelde verskil van minder as 0.5 mm oor ‘n stel van 30 punte behaal word. Die resultate van die mikro-CMM model se metings val binne die foutbegroting van ongeveer 0.75 mm geskat by die voorgestelde analitiese foutmodel.