한국정밀공학회지. 2019  36(10): 975-982     http://doi.org/10.7736/KSPE.2019.36.10.975
ⓒ Journal of the Korean Society for Precision Engineering
레이저 간섭계를 이용한 대형 체적 레이저 가공 로봇의 평행도 오차보정
이훈희1, 이동목2, 양승한3
1한국생산기술연구원 수송기계부품그룹, 2㈜맥스로텍 기술연구소, 3경북대학교 기계공학부
Parallelism Error Compensation of a Large Volume Laser Machining Robot using a Laser Interferometer
Hoon-Hee Lee1, Dong-Mok Lee*2, Seung-Han Yang3
1Transport Machine Components R&D Group, Korea Institute of Industrial Technology, 2R&D Center, Maxrotec Co., Ltd., 3School of Mechanical Engineering, Kyungpook National University

Industrial robots are widely used for part manufacturing besides simple task (welding, assembly). A parallel kinematic machine (PKM) with extending axes have been utilized in large volume machining because of their adequate stiffness and agility. Parallelism error in the PKM with an extending axis causes deterioration of dimensional accuracy of machined parts. This paper proposes a technique for compensating the parallelism error through measurement of the squareness error between the PKM with its extending axes using a laser interferometer. The four squareness errors are estimated to reduce the parallelism errors. The squareness error is calculated by measuring linearity of the extending axis and the PKM moving axis, and through the measurement of diagonal displacement error and position dependent geometric errors. Compensation of the parallelism error was done by transforming the basic coordinate system of the PKM. The parallelism error was significantly reduced from 0.735 to 0.022 mm and further verified experimentally.
Key words : Parallelism error (평행도 오차), Large volume machining robot (대형 체적 가공 로봇), Extending axis (확장 축), Parallel kinematic machine (병렬기구 기계), Laser Interferometer (레이저 간섭계)
중심단어 : 
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