Derivation of error models and error compensation procedure for simulation turntable using multi-body kinematics

This paper presents the development of kinematic error models accounting for geometric and thermal errors in the three axes simulation turntable with open architecture controller. In order to improve simulation turntable accuracy, which constitutes a large portion of the total simulation turntable error during simulating, simulation turntable geometric errors as well as thermally induced errors have to be characterized and predicted for error compensation. Using multi-body kinematics and small angle approximation of the errors, each axis of the three axes simulation turntable is modeled using homogeneous coordinate transformation. By synthesizing the machine´s parametric errors such as angle positioning errors, wobble and radical etc., an expression for the orientation errors in the simulation turntable is developed. The developed mathematical model is used to calculate and predict the resultant error vector at the simulation point for error compensation.