Research on calibration method based on 6-TPS type parallel machine tool

The kinematics calibration method was studied based on the 6-TPS type Parallel Kinematics Machine (PKM). Firstly, each structure parameter unit error of PKM was assumed, and then the Influence coefficient matrix was constructed between the PKM terminal position and orientation errors and structure errors by numerical method using the measured data by the PKM forward kinematics, under which the general coordination system was consistent with measurement mode. The PKM parameter errors mathematical model was established by this method. The scheme of measuring the errors of the PKM translation and convergence point was presented oriented to the 6-TPS type PKM. The feasibility of the calibration method was validated in the practical engineering application.