Separation of Comprehensive Geometrical Errors of a 3-DOF Parallel Manipulator Based on Jacobian Matrix and Its Sensitivity Analysis with Monte-Carlo Method

Parallel kinematic machines （PKMs） have the advantages of a compact structure,high stiffness,a low moving inertia,and a high load/weight ratio.PKMs have been intensively studied since the 1980s,and are still attracting much attention.Compared with extensive researches focus on their type/dimensional synthesis,kinematic/dynamic analyses,the error modeling and separation issues in PKMs are not studied adequately,which is one of the most important obstacles in its commercial applications widely.Taking a 3-PRS parallel manipulator as an example,this paper presents a separation method of source errors for 3-DOF parallel manipulator into the compensable and non-compensable errors effectively.The kinematic analysis of 3-PRS parallel manipulator leads to its six-dimension Jacobian matrix,which can be mapped into the Jacobian matrix of actuations and constraints,and then the compensable and non-compensable errors can be separated accordingly.The compensable errors can be compensated by the kinematic calibration,while the non-compensable errors may be adjusted by the manufacturing and assembling process.Followed by the influence of the latter,i.e.,the non-compensable errors,on the pose error of the moving platform through the sensitivity analysis with the aid of the Monte-Carlo method,meanwhile,the configurations of the manipulator are sought as the pose errors of the moving platform approaching their maximum.The compensable and non-compensable errors in limited-DOF parallel manipulators can be separated effectively by means of the Jacobian matrix of actuations and constraints,providing designers with an informative guideline to taking proper measures for enhancing the pose accuracy via component tolerancing and/or kinematic calibration,which can lay the foundation for the error distinguishment and compensation.

THEORETICAL INVESTIGATION ON THE TECHNIQUES OF ERROR SEPARATION USING THREE PROBES

In this paper,the following problems are discussed:the mounting conditionsof three probes,the transmission characteristics of measuring system,the elimination ofmounting eccentricity,and so forth.The measures for solving these problems are also pres-ented.At last,the author gives some ideas about the solubility and the correlations of theoutput equations.

Verification of Existence of Harmonic Suppression in Error Separation by Prony Spectrum Analysis

Prony spectrum analysis is employed in this paper to analyze the harmonics of estimation of radial runout of axis in error separation. The result of analysis verifies the existence of harmonic suppression in multi-step method, thereby advancing the study of harmonic suppression which stayed at the theoretical level for years.

A New Algorithm of Roundness Error Separation Technique of Three-point Method

Through the analysis of roundness error separation technique of three-point method and based on the invariability and periodicity of the geometrical characteristic of measured round contour, a new matrix algorithm, which can be used to solve directly the roundness of the measured round contour without Fourier transform, is presented. On the basis of the research and analysis of the rotation error movement which is separated by using the three-point method, a mathematical equation is derived, which can be used to separate the eccentric motion of least square center of measured round contour and the pure rotation motion error of spindle in rotation motion. The correctness of this method is validated by means of simulation.

Stability of the MGS-like elimination method for equality constrained least squares problems

This paper proves that the weighting method via modified Gram-Schmidt（MGS） for solving the equality constrained least squares problem in the limit is equivalent to the direct elimination method via MGS（MGS-elimination method）. By virtue of this equivalence, the backward and forward roundoff error analysis of the MGS-elimination method is proved. Numerical experiments are provided to verify the results.

Orthogonality of inductosyn angle-measuring system error and error-separating technology

Round inductosyn is widely used in inertial navigation test equipment, and its accuracy has significant effect on the general accuracy of the equipment. Four main errors of round inductosyn,i.e. the first-order long-period (360°) harmonic error, the second-order long-period harmonic error, the first-order short-period harmonic error and the second-order short-period harmonic error, are described, and the orthogonality of these four kinds of errors is studied. An error separating technology is proposed to separate these four kinds of errors, and in the process of separating the short-period harmonic errors, the arrangement in the order of decimal part of the angle pitch number can be omitted. The effectiveness of the technology proposed is proved through measuring and adjusting the angular errors.

Research on Blind Source Separation for Machine Vibrations

Blind source separation is a signal processing method based on independent component analysis, its aim is to separate the source signals from a set of observations (output of sensors) by assuming the source signals independently. This paper reviews the general concept of BSS firstly;especially the theory for convolutive mixtures, the model of convolutive mixture and two deconvolution structures, then adopts a BSS algorithm for convolutive mixtures based on residual cross-talking error threshold control criteria, the simulation testing points out good performance for simulated mixtures.

Accurate vision measurement for kinematic parameters of satellite separation tests

The accurate measurement of kinematic parameters in satellite separation tests has great significance in evaluating separation performance. A novel study is made on the measuring accuracy of monocular and binocular, which are the two main vision measurement methods used for kinematic parameters. As satellite separation process is transient and high-dynamic, it will bring more extraction errors to the binocular. Based on the design approach of intersection measure and variance ratio, the monocular method reflects higher precision, simpler structure and easier calibration for level satellite separation. In ground separation tests, a high-speed monocular system is developed to gain and analyze twelve kinematic parameters of a small satellite. Research shows that this monocular method can be widely applied for its high precision, with position accuracy of 0.5 mm, speed accuracy of 5 mm/s, and angular velocity accuracy of 1 (°)/s.

A new calculation approach of wellbore separation factor based on the relative position of adjacent wells

As the current calculation methods for wellbore separation factor have some deficiencies, we propose and analyze a new calculation approach for wellbore separation factor based on the relative position of adjacent wellbores, named as relative position method for short. Based on the trajectory error ellipsoid model of single wellbore, the error ellipsoids model of adjacent wellbore was derived considering the correlation of trajectory errors between adjacent wells. Furthermore, the calculation formula of the separation factor based on relative position of adjacent wellbore was derived and solved with the conjugate gradient algorithm. Case study shows that the new approach is more precise and higher in applicability than the ellipsoid scaling method and the minimum distance method, it can evaluate the state of well collision more reasonably. By doing batch calculation with the new method and following the criterion of well collision avoidance, the permissible ranges of key parameters in the well design can be worked out quickly. This method has good application in the design of cluster wells and directional wells.

Separation Problem in Satellite Gravimetry

The problem of separating gravitation from inertia is discussed in very general sense, and the conclusion is positive: man can separate gravitation from inertia, if various observation techniques are applied for. The accelerometer's position problem in satellite gravimetry is investigated, and the additional acceleration effect due to the position error of an instrument as well as the difference between the mass center and the gravity center is explored.

Geometric Error Identification of Gantry-Type CNC Machine Tool Based on Multi-Station Synchronization Laser Tracers

Laser tracers are a three-dimensional coordinate measurement system that are widely used in industrial measurement.We propose a geometric error identification method based on multi-station synchronization laser tracers to enable the rapid and high-precision measurement of geometric errors for gantry-type computer numerical control(CNC)machine tools.This method also improves on the existing measurement efficiency issues in the single-base station measurement method and multi-base station time-sharing measurement method.We consider a three-axis gantry-type CNC machine tool,and the geometric error mathematical model is derived and established based on the combination of screw theory and a topological analysis of the machine kinematic chain.The four-station laser tracers position and measurement points are realized based on the multi-point positioning principle.A self-calibration algorithm is proposed for the coordinate calibration process of a laser tracer using the Levenberg-Marquardt nonlinear least squares method,and the geometric error is solved using Taylor’s first-order linearization iteration.The experimental results show that the geometric error calculated based on this modeling method is comparable to the results from the Etalon laser tracer.For a volume of 800 mm×1000 mm×350 mm,the maximum differences of the linear,angular,and spatial position errors were 2.0μm,2.7μrad,and 12.0μm,respectively,which verifies the accuracy of the proposed algorithm.This research proposes a modeling method for the precise measurement of errors in machine tools,and the applied nature of this study also makes it relevant both to researchers and those in the industrial sector.

基于常循环码的纠缠辅助量子Maximum-Distance-Separable码的构造

纠缠辅助量子纠错码可以看作是经典量子纠错码的引申,其与经典量子纠错码的差别在于,如果发送者和接收者双方提前共享纠缠态,在不满足对偶包含的的情况下也可以由任意经典线性码构造出来.本文通过研究分圆陪集的结构性质,利用常循环码构造出几类新的具有较小预先共享纠缠态的纠缠辅助量子Maximum-Distance-Separable(MDS)码.

On-Machine Measurement of the Straightness and Tilt Errors of a Linear Slideway Using a New Four-Sensor Method

Although there are some multi-sensor methods for measuring the straightness and tilt errors of a linear slideway, they need to be further improved in some aspects, such as suppressing measurement noise and reducing precondition.In this paper, a new four-sensor method with an improved measurement system is proposed to on-machine separate the straightness and tilt errors of a linear slideway from the sensor outputs, considering the influences of the reference surface profile and the zero-adjustment values. The improved system is achieved by adjusting a single sensor to di erent positions. Based on the system, a system of linear equations is built by fusing the sensor outputs to cancel out the e ects of the straightness and tilt errors. Three constraints are then derived and supplemented into the linear system to make the coe cient matrix full rank. To restrain the sensitivity of the solution of the linear system to the measurement noise in the sensor outputs, the Tikhonov regularization method is utilized. After the surface profile is obtained from the solution, the straightness and tilt errors are identified from the sensor outputs. To analyze the e ects of the measurement noise and the positioning errors of the sensor and the linear slideway, a series of computer simulations are carried out. An experiment is conducted for validation, showing good consistency. The new four-sensor method with the improved measurement system provides a new way to measure the straightness and tilt errors of a linear slideway, which can guarantee favorable propagations of the residuals induced by the noise and the positioning errors.

A New Method of Error Compensation for Numerical Control System

This paper presents a method of rapid machine tool error modeling, separation, and compensation using grating ruler. A robust modeling procedure for geometric errors is developed and a fast data processing algorithm is designed by using the error separation technique. After compensation with the new method, the maximum position error of the experiment workbench can be reduced from 400 μm to 15 μm. The experimental results show the effectiveness and accuracy of this method.

SOME MATHEMATICAL MODELS OF MEASUREMENT OF CYLINDRICITY ERROR WITH MULTI-POINT METHOD

Through the analyses and researches on some related references of error separation techniques at home and abroad, this paper has built-up some mathematical models to measure and evaluate workpiece cylindricity error with multipoint method as well as unconstrained optimization methods. A few shortcomings of the technique to solve rotational error and cylindricity error are found, and some precise formulas are given. It is feasible by computer simulation tests.

High Accuracy On-line Measurement Method of Motion Error on Machine Tools Straight-going Parts

Harmonic suppression, non-periodic and non-closing in straightness profile error that will bring about harmonic component distortion in measurement result are analyzed. The countermeasure-a novel accurate two-probe method in time domain is put forward to measure straight-going component motion error in machine tools based on the frequency domain 3-point method after symmetrical continuation of probes' primitive signal. Both straight-going component motion error in machine tools and the profile error in workpiece that is manufactured on this machine can be measured at the same time. The information is available to diagnose the fault origin of machine tools. The analysis result is proved to be correct by the experiment.

ERROR ANALYSIS FOR SOLVING VANDERMONDE SYSTEM WITH SPECIAL POINTS

The Bjorck and Pereyra algorithms used for solving Vandermonde systemof equation are modified for the case where the points are symmetricly situated aroundzero. The working operation is saved about half. A forward error analysis is presentedfor the modified algorithms, and it's shown that if the points are situated in some order,the error bound are as good as Higham's result in 1987.

CYLINDRICITY ERROR COMPENSATION IN DIAMOND TURNING VIA P－INTEGRATOR REPETITIVE CONTROL

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Discriminant Analysis of the Linear Separable Data - Japanese 44 Cars

There are four serious problems in the discriminant analysis. We developed an optimal linear discriminant function （optimal LDF） based on the minimum number of misclassification （minimum NM） using integer programming （IP）. We call this LDF as Revised IP-OLDF. Only this LDF can discriminate the cases on the discriminant hyperplane （Probleml）. This LDF and a hard-margin SVM （H-SVM） can discriminate the lineary separable data （LSD） exactly. Another LDFs may not discriminate the LSD theoretically （Problem2）. When Revised IP-OLDF discriminate the Swiss banknote data with six variables, we find MNM of two-variables model such as （X4, X6） is zero. Because MNMk decreases monotounusly （MNMk 〉= MNM（k＋1））, sixteen MNMs including （X4, X6） are zero. Until now, because there is no research of the LSD, we surveyed another three linear separable data sets such as： 18 exam scores data sets, the Japanese 44 cars data and six microarray datasets. When we discriminate the exam scores with MNM=0, we find the generalized inverse matrix technique causes the serious Problem3 and confirmed this fact by the cars data. At last, we claim the discriminant analysis is not the inferential statistics because there is no standard errors （SEs） of error rates and discriminant coefficients （Problem4）. Therefore, we poroposed the ＂100-fold cross validation for the small sample＂ method （the method）. By this break-through, we can choose the best model having minimum mean of error rate （M2） in the validation sample and obtaine two 95% confidence intervals （CIs） of error rate and discriminant coefficients. When we discriminate the exam scores by this new method, we obtaine the surprising results seven LDFs except for Fisher＇s LDF are almost the same as the trivial LDFs. In this research, we discriminate the Japanese 44 cars data because we can discuss four problems. There are six independent variables to discriminate 29 regular cars and 15 small cars. This data is linear separable by the emission rate （X1） and the number of seats （X3）. We examine the validity of the new model selection procedure of the discriminant analysis. We proposed the model with minimum mean of error rates （M2） in the validation samples is the best model. We had examined this procedure by the exam scores, and we obtain good results. Moreover, the 95% CI of eight LDFs offers us real perception of the discriminant theory. However, the exam scores are different from the ordinal data. Therefore, we apply our theory and procedure to the Japanese 44 cars data and confirmed the same conclution.

Separate-Type Estimators for Estimating Population Ratio in Post-Stratified Sampling Using Variable Transformation

The study proposes, along the line of [1], six separate-type estimators for estimating the population ratio of two variables in post-stratified sampling, using variable transformation. Properties of the proposed estimators were obtained up to first order approximations, both for achieved sample configurations (conditional argument) and over repeated samples of fixed size n (unconditional argument). Efficiency conditions, under which the proposed separate-type estimators would perform better than the associated customary separate-type estimators in terms of having smaller mean squared errors, were obtained. Furthermore, conditions under which some of the proposed separate-type estimators would perform better than other proposed separate-type estimators were also obtained. The optimum estimators among the proposed separate-type estimators were obtained and an empirical illustration confirmed the theoretical results.