Elasto-geometrical modeling and calibration of redundantly actuated PKMs

TLDR: In this article, an elasto-geometrical and calibration method is proposed to identify the geometrical errors of a planar kinematic mechanism without taking into account the effects of the elastic deformations.

About: This article is published in Mechanism and Machine Theory.The article was published on 2010-05-01 and is currently open access. It has received 29 citations till now. The article focuses on the topics: Kinematics.

Figures

Figure 6. Non-coincidence of node joints in case of geometrical errors.

Figure 17. Deviations on the TCP x position.

Figure 1. Local wrenches and displacements on an isolated beam.

Figure 8. Deformation of flexible joints with non-coincident nodes.

Figure 7. Deformation of flexible joints with initial coincident nodes.

Table 2 Scissors’ nominal parameter values (mm, deg and kN/mm).

Frequently asked questions

Q1. What are the contributions mentioned in the paper "Elasto-geometrical modeling and calibration of redundantly actuated pkms" ?

The main originality of this work is to propose an efficient elasto-geometrical and calibration method that allows the identification of both the geometrical and stiffness parameters of redundantly actuated parallel mechanisms with slender links. The first part of the paper explains the proposed method through its application on a simple redundant planar mechanism.