A gravitational deflection compensation strategy for HPKMs

摘要: Hybrid parallel kinematic machines (HPKM) are prone to structural deflection under the influence of gravity, both in serial wrist joints and upper tripod structure. The results errors at tool tip, leading manufacturing inaccuracies performance outside manufacturer's quoted accuracy. To further increase take-up HPKMs robust online compensation strategies required that return maintain HPKM accuracy level production conditions. This paper addresses problem mass-induced positional hybrid (HPKMs) describes development a novel polar methodology for reduction these errors. strategy developed significantly reduces error observed. A full implementation gravitational on Neos Robotics TR600 University Nottingham has seen measured system's reduced by 70% system returned level.