Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains
This work addresses precision issues in parallel manipulators for machining applications, but it is incremental as it extends existing methods to include assembling errors.
The paper tackles compliance errors in parallel manipulators under external loading by adjusting target trajectories based on non-linear stiffness modeling, and it also addresses assembling errors from inaccurate kinematic chains, demonstrating practical significance through groove milling examples with the Orthoglide manipulator.
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.