Research Papers

Enhancing PKM Accuracy by Separating Actuation and Measurement: A 3DOF Case Study

[+] Author and Article Information
David Corbel, Olivier Company, Sébastien Krut

LIRMM, Université Montpellier 2, CNRS 161, rue Ada, 34392 Montpellier, France

François Pierrot1

LIRMM, Université Montpellier 2, CNRS 161, rue Ada, 34392 Montpellier, Francepierrot@lirmm.fr


Number of independent relative velocities between the base and end-effector of the machine (21).


Corresponding author.

J. Mechanisms Robotics 2(3), 031008 (Jul 21, 2010) (11 pages) doi:10.1115/1.4001779 History: Received September 17, 2009; Revised January 29, 2010; Published July 21, 2010; Online July 21, 2010

This paper proposes an approach for enhancing parallel kinematics machine accuracy by separating actuation and measurement. We describe the interest of the separation actuation and measurement concept and define the sensor redundancy used for designing the measurement device. Then, we present the design of a parallel machine-tool prototype with an independent measuring system, MoM3, as well as the optimization of its measuring system. Lastly, we present the control schemes used on the prototype, and provide experimental results to show the efficiency of separation actuation and measurement applied to a machine-tool.

Copyright © 2010 by American Society of Mechanical Engineers
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Figure 1

(a) Classic serial MT, (b) with assembly errors, and (c) with deformations

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Figure 2

(a) Parallel MT, (b) with assembly errors, and (c) with deformations

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Figure 3

Classic association of actuation and measurement on robots

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Figure 4

Metrology of robots with SAM

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Figure 5

Solid along a prismatic joint: (a) “perfect” case, (b) “nonperfect” case

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Figure 6

Kinematically redundant parallel manipulator

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Figure 7

Parallel manipulator with actuation redundancy

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Figure 9

Principle of the SAM on MoM3

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Figure 10

Gough-platform strut and calibration device

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Figure 11

Geometrical parameters of the Gough-platform

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Figure 12

Tool point Et and its bounding box

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Figure 15

Control scheme of MoM3 in sensor space

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Figure 13

MT workspace W (300×300×300 mm3)

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Figure 14

Control scheme of MoM3 in operational measured space

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Figure 16

Experimental setup for the measuring system validation with end-effector load

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Figure 17

140 N load applied on the MoM3 traveling plate

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Figure 18

Comparison of classic Cartesian control and sensor space control

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Figure 19

Prototype of MoM3 with a wooden frame and arms



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