Error significance analysis and compensation for HPKMs

被引：8

作者：

Eastwood, Sara ^{[2
]}

Webb, Philip ^{[1
]}

机构：

[1] Univ Nottingham, Dept Mech Mat & Mfg Engn, Nottingham NG7 2RD, England

[2] QMI Solut, Eight Mile Plains, Australia

来源：

INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | 2009年 / 36卷 / 01期

关键词：

Mechanics; Kinematics; Error analysis; Error handling; Classification; Systems and control theory;

D O I：

10.1108/01439910910924648

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

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.

引用

页码：27 / 35

页数：9

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