AN UNIFIED APPROACH TO EVALUATE AND COMPENSATE THE TOOL POSITIONING ERROR IN PARALLEL KINEMATIC MACHINES Gerd Erwin Ernst Gojtan e Tarcisio Antonio Hess-Coelho
Resumo: Parallel Kinematic Machines (PKMs) became attractive architectures due to some potential advantages over their traditional serial counterparts. Among them, one can mention: high rigidity, lightness, fast dynamic response, precision and high load capacity. In addition, they can produce workpieces with very complex geometries in a single set-up, which would be rather difficult to obtain from conventional or even CNC machine-tools. Despite of the efforts from academia and industry, there are a great number of problems that remain to be solved, like calibration, motion planning and control. This work proposes an unified approach to evaluate and compensate the undesirable effects caused by possible error sources observed in parallel kinematic machines. The full paper also presents a practical example for a bidimensional PKM, where the proposed approach is applied.
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