Error significance analysis and compensation for HPKMs

Purpose - The purpose of this paper is to describe a novel error-ranking methodology and two compensation strategies for hybrid parallel kinematic machines (HPKMs).Design methodology approach - The paper outlines an error analysis methodology developed for HPKMs and applies the technique to a typica...

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Bibliographic Details
Published in:Industrial robot 2009-01, Vol.36 (1), p.27-35
Main Authors: Eastwood, Sara, Webb, Philip
Format: Article
Language:English
Subjects:
Accuracy
Applied sciences
Calibration
Classification
Computer science
control theory
systems
Control theory
Control theory. Systems
Cutting tools
Drives
Error analysis
Error handling
Exact sciences and technology
Kinematics
Linkage mechanisms, cams
Mechanical engineering. Machine design
Mechanics
Studies
System theory
Systems and control theory
Systems management
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Summary:Purpose - The purpose of this paper is to describe a novel error-ranking methodology and two compensation strategies for hybrid parallel kinematic machines (HPKMs).Design methodology approach - The paper outlines an error analysis methodology developed for HPKMs and applies the technique to a typical industrial HPKM. Based on the results of this, two compensation strategies are developed and implemented, for both mass-induced and thermal errors.Findings - The paper demonstrates and quantifies the performance improvements possible with appropriate error compensation strategies.Originality value - The paper introduces a novel and generic methodology for error source analysis and describes two fully implemented compensation strategies which result in a significantly improved level of system performance.
ISSN:0143-991X
1758-5791
DOI:10.1108/01439910910924648