Error Averaging Effect in Parallel Mechanism Coordinate Measuring Machine
Error averaging effect is one of the advantages of a parallel mechanism when individual errors are relatively large. However, further investigation is necessary to clarify the evidence with mathematical analysis and experiment. In the developed parallel coordinate measuring machine (PCMM), which is based on three pairs of prismatic-universal-universal joints (3-PUU), error averaging mechanism was investigated and is analyzed in this report. Firstly, the error transfer coefficients of various errors in the PCMM were studied based on the established error transfer model. It can be shown how the various original errors in the parallel mechanism are averaged and reduced. Secondly, experimental measurements were carried out, including angular errors and straightness errors of three moving sliders. Lastly, solving the inverse kinematics by numerical method of iteration, it can be seen that the final measuring errors of the moving platform of PCMM can be reduced by the error averaging effect in comparison with the attributed geometric errors of three moving slides. This study reveals the significance of the error averaging effect for a PCMM.
Analysis of Slider Motion Error on 3-PUU Parallel Coordinate Measuring Maching
Sliders motion error is the key error source of 3-PUU parallel coordinate measuring maching(CMM), which must be corrected or compensated carefully. The influence of sliders motion error on ball hinge centre position and linear grating reading are discussed and evaluated qualitatively, then the error model including slider linear motion error is established, slider motion straightness error data of 3-PUU CMM are captured by dual frequency laser interferometer. Through theoretical calculation, the contribution of sliders motion error on the instrument total error is derived and provided quantitatively with obtained experimental data,which paved the way for error correction. The work will be very useful for the following instrument accuracy calibration. Especially, it will improve the calibration accuracy on the parallel mechanism structure parameters.
Mesozoic rifting and basin inversion along the northern African Tethyan margin: an overview
Abstract The northern African Tethyan margin registered three major rifting episodes from the latest Palaeozoic-earliest Mesozoic to the earliest Cenozoic. Break-up of Gondwana was initiated in the late Carboniferous. Along the northern African-Arabian plate margin rifting propagated westward from the northeastern Arabian margin to Morocco during the Permian and Triassic, and was accompanied by Mid-Late Triassic-earliest Liassic extensive alkaline flow basalts. Rifting continued during the Liassic, e.g. in the Moghrebian Atlas troughs. A second stage of rifting occurred in the Late Jurassic and continued into, or was rejuvenated during, the Early Cretaceous. Along the east Mediterranean margin, some large E-W trending rifts formed, often with associated volcanism, e.g. southern Sirt and Abu Gharadig. Most researchers believe the oceanization of the eastern Mediterranean basin occurred at this time. Flexural subsidence affected the Moghrebian Atlas, including the Riffian-Tellian domain, where a thick flysch series was deposited. Two short-lived, but widespread and tectonically important, compressional or wrench-dominated events occurred during the Santonian and the latest Maastrichtian. From Morocco to Oman, most sedimentary basins were folded and inverted at these times. The Santonian event resulted from onset of the collision between the African-Arabian and Eurasian plates. New stress-fields favoured NE-SW extension along the African plate margin, generating or rejuvenating some rifts, e.g. in the Euphrates trough and in the Libya-Tunisia region (northwestern Sirt, Pelagian Sea). Rifting and magmatism continued in these regions into the Paleocene. During the Mesozoic, therefore, the northern margin of the African-Arabian plate registered both rifting resulting in the oceanization of the Tethys and rifting resulting from the initiation of the closure of the Tethys. The intraplate domain exhibited echoes of the tectonic events affecting the margin.