Author
P. Maurine
Bio: P. Maurine is an academic researcher from Intelligence and National Security Alliance. The author has contributed to research in topics: Parallel manipulator & Position (vector). The author has an hindex of 3, co-authored 3 publications receiving 171 citations.
Papers
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15 May 2006
TL;DR: The proposed analytical method could be used to reduce the gap existing between actual PKM and those that have to meet the high accuracy specifications required for machining applications.
Abstract: The purpose of this work is to propose a new approach for the calculation of PKM stiffness matrix by using an analytical method based on matrix structural analysis. This method has as the main advantage to be systematic and it also can be applied to hyper-static PKM stiffness analysis. The implementation of the proposed method is fast and convenient and it can easily be involved during PKM design optimization. Moreover, as the stiffness matrix is obtained in a close form, it can be implemented directly on the robot controller. In other words, the proposed method could be used to reduce the gap existing between actual PKM and those that have to meet the high accuracy specifications required for machining applications. At first this paper presents the proposed analytical method that is applied to calculate the stiffness matrix of a delta parallel structure. Then the experimental results that have been done to evaluate and validate its efficiency are presented
156 citations
15 May 2006
TL;DR: The position relationship taking into account the full geometry of the parallelograms is difficult, not to say impossible, to derive in a close form; therefore a linear approximation of the model is proposed.
Abstract: This paper presents an improved method for the geometrical calibration of parallel robots for which the structure is based upon some parallelogram mechanisms. Its originality is to identify the complete geometry of the mechanism's parallelograms, and to compensate the positioning error of the TCP (tool centre point), due to the infinitesimal rotation of the traveling plate, induced by the parallelogram geometrical errors. The main difficulties are: (i) to derive the calibration model relative to all geometrical parameters, and (ii) to reuse the identified errors in a control model in order to compensate the positioning errors. In fact, the position relationship taking into account the full geometry of the parallelograms is difficult, not to say impossible, to derive in a close form; therefore a linear approximation of the model is proposed. The formulas necessary to run the method on a Delta robot are given. Then a simple mechanism is used to illustrate the benefits of this method compared to classical ones
16 citations
19 May 2008
TL;DR: The kinematics of the machine is described first then the systematic approach that is proposed to calculate the elastic modelling of its architecture is presented andSimulations and experiments are presented next in order to evaluate the limitations and benefits of the proposed modelling approach.
Abstract: This paper presents the elasto-geometrical modelling of an industrial robot manipulator whose structure includes a closed-loop mechanism. This modelling is done for sensitivity studies and calibration purposes since the robot is involved in machining operations that require a high level of quasi static positioning accuracy. The kinematics of the machine is described first then the systematic approach that is proposed to calculate the elastic modelling of its architecture is presented. Simulations and experiments are presented next in order to evaluate the limitations and benefits of the proposed modelling approach.
11 citations
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TL;DR: A new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints is presented, based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs that describe both translational/rotational compliance and the coupling between them.
271 citations
TL;DR: In this paper, a non-linear stiffness model for serial and parallel manipulators with passive joints is presented, where the manipulator elements are presented as pseudo-rigid bodies separated by multidimensional virtual springs and perfect passive joints.
221 citations
TL;DR: In this paper, the authors address the problem of robotic manipulator calibration in real industrial environment, taking into account the elastic properties of both links and joints, and propose physical algebraic and statistical model reduction methods to solve the problem.
123 citations
111 citations
Abstract: Stiffness analysis and experimentof a novel 5-DoF parallel kinematic machine considering gravitational effects
108 citations