6533b822fe1ef96bd127cd9d
RESEARCH PRODUCT
Compliance error compensation technique for parallel robots composed of non-perfect serial chains
Damien ChablatAlexandr KlimchikAnatol PashkevichGeir Hovlandsubject
FOS: Computer and information sciences0209 industrial biotechnologyEngineeringGeneral Mathematicsnonlinear stiffness modelingcompliance error compensation02 engineering and technologyIndustrial and Manufacturing EngineeringCompensation (engineering)Computer Science::RoboticsSuperposition principleComputer Science - Robotics020901 industrial engineering & automation0203 mechanical engineeringControl theorymedicine[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]ManipulatorGroove (engineering)business.industryMode (statistics)Parallel manipulatorStiffnessComputer Science Applications020303 mechanical engineering & transportsControl and Systems EngineeringTrajectoryParallel robotsmedicine.symptombusinessnon-perfect manipulatorsRobotics (cs.RO)Softwaredescription
The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account the influence of non-perfect geometry of serial chains caused by manufacturing errors. Within the developed technique, the deviation compensation reduces to an adjustment of a target trajectory that is modified in the off-line mode. The advantages and practical significance of the proposed technique are illustrated by an example that deals with groove milling by the Orthoglide manipulator that considers different locations of the workpiece. It is also demonstrated that the impact of the compliance errors and the errors caused by inaccuracy in serial chains cannot be taken into account using the superposition principle.
year | journal | country | edition | language |
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2012-10-03 |