Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains
作者： Alexandr Klimchik , Geir Hovland , Anatoly Pashkevich , Damien Chablat
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摘要: The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach based on non-linear stiffness modeling and reduces a proper adjusting of target trajectory. In contrast previous works, in addition caused by machining forces, problem assembling inaccuracy kinematic chains considered. advantages practical significance proposed are illustrated examples that deal with groove milling Orthoglide manipulator.
arxiv.org参考文章(4)
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