کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413659 680653 2013 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Compliance error compensation technique for parallel robots composed of non-perfect serial chains
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Compliance error compensation technique for parallel robots composed of non-perfect serial chains
چکیده انگلیسی

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.


► Compliance errors compensation technique.
► Non-linear stiffness model.
► Compensation different error sources.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 29, Issue 2, April 2013, Pages 385–393
نویسندگان
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