Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains

TL;DR

This paper presents a method for compensating compliance errors in parallel manipulators by modeling non-linear stiffness and adjusting trajectories, accounting for both machining and assembly errors, demonstrated on an Orthoglide system.

Contribution

It introduces a novel approach that considers assembly errors alongside compliance errors, improving accuracy in parallel manipulators.

Findings

Effective compensation of compliance errors demonstrated

Inclusion of assembly errors enhances accuracy

Applicable to groove milling with Orthoglide

Abstract

The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In contrast to previous works, in addition to compliance errors caused by machining forces, the problem of assembling errors caused by inaccuracy in the kinematic chains is considered. The advantages and practical significance of the proposed approach are illustrated by examples that deal with groove milling with Orthoglide manipulator.