R. Neugebauer (Hrsg.)
Dissertation Gaël Ecorchard
Static Accuracy Enhancement of Redundantly Actuated Parallel Kinematic Machine Tools
Berichte aus dem IWU Band 53
201 Seiten, mit Abb., A5, Broschur
Verlag Wissenschaftliche Scripten
Redundant parallel kinematic machines are parallel mechanisms to which one or more kinematic branch is added in order to improve their mechanical properties, in particular, their stiffness. Redundant parallel kinematic machines have then more actuators than their degree of freedom.
New calibration methods are developed in this thesis in order to deal with the particularities related to the actuation redundancy. Several measurement systems and control models are compared. Modeling methods are developed that take into account the geometry of the mechanism as well as the stiffness of its elements to improve the accuracy of the calibration. With such modeling methods, it is possible to determine the tool-center-point position for redundantly actuated parallel mechanisms from geometrical and stiffness parameters and given positions for all actuators. The modeling methods are demonstrated on a simple mechanism. They are then tested on a real machine and used in calibration processes.