6533b873fe1ef96bd12d57ac
RESEARCH PRODUCT
Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains
Anatoly PashkevichAlexandr KlimchikGeir HovlandDamien Chablatsubject
FOS: Computer and information sciences0209 industrial biotechnologyComputer sciencenonlinear stiffness modelingcompliance error compensation02 engineering and technologyKinematicsCompensation (engineering)Computer Science::RoboticsComputer Science - Robotics020901 industrial engineering & automation0203 mechanical engineeringMachiningControl theorymedicine[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]ManipulatorGroove (engineering)Parallel manipulatorStiffnessparallel robots020303 mechanical engineering & transportsTrajectorymedicine.symptomnon-perfect manipulatorsRobotics (cs.RO)description
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In contrast to previous works, in addition to compliance errors caused by machining forces, the problem of assembling errors caused by inaccuracy in the kinematic chains is considered. The advantages and practical significance of the proposed approach are illustrated by examples that deal with groove milling with Orthoglide manipulator.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2012-06-24 |