1. bookVolume 14 (2014): Issue 5 (October 2014)
Journal Details
License
Format
Journal
eISSN
1335-8871
First Published
07 Mar 2008
Publication timeframe
6 times per year
Languages
English
Open Access

Theoretical Positioning Accuracy for Serial and Parallel Kinematic Structure

Published Online: 05 Nov 2014
Volume & Issue: Volume 14 (2014) - Issue 5 (October 2014)
Page range: 243 - 251
Received: 21 Feb 2013
Accepted: 17 Sep 2014
Journal Details
License
Format
Journal
eISSN
1335-8871
First Published
07 Mar 2008
Publication timeframe
6 times per year
Languages
English
Abstract

Modern production machines employ complex kinematic structures that shall enhance their performance. As those machines are very sophisticated electro-mechanical structures, their design is time consuming and financially demanding. Therefore, designers search for new possibilities how to estimate future properties of the machine as early as in the design phase. The paper gives a brief introduction to the adoption of methodology of measurement uncertainties into the design of production machines. The adapted methodology enables to estimate the theoretical positioning accuracy of the machine end effector that is one of the important indicators of machine performance. Both serial and parallel kinematic structures are considered in the paper. Methodology and sample calculations of theoretical positioning accuracy are presented for serial kinematic structure (represented by advanced plasma cutting head) and parallel kinematic structure, represented by one specific design named Tricept.

Keywords

[1] Knapp, W. (2002). Measurement uncertainty and machine tool testing. CIRP Annals - Manufacturing Technology, 51 (1), 459-462.10.1016/S0007-8506(07)61560-1Search in Google Scholar

[2] Schwenke, H. et al. (2008). Geometric error measurement and compensation of machines-An update. CIRP Annals - Manufacturing Technology, 57 (2), 660-675.10.1016/j.cirp.2008.09.008Search in Google Scholar

[3] Sartori, S., Zhang, G.X. (1995). Geometric error measurement and compensation of machines. CIRP Annals - Manufacturing Technology, 44 (2), 599-609.10.1016/S0007-8506(07)60507-1Search in Google Scholar

[4] Weckenmann, A. (1982). The accuracy of coordinate measuring machines. In IMEKO IX World Congress, Vol. V/I, 266-275. (preprints)Search in Google Scholar

[5] Balsamo, A., Meda, A. (2006). Geometrical error compensation of coordinate measuring systems. Nanotechnology and Precision Engineering, 4, 83-91.Search in Google Scholar

[6] Kušnerova, M., Valiček, J., Harničarova, M., Hryniewicz, T., Rokosz, K., Palkova, Z., Vaclavik, V., Řepka, M., Bendova, M. (2013). A Proposal for simplifying the method of evaluation of uncertainties in measurement result. Measurement Science Review, 13 (1), 1-6.10.2478/msr-2013-0007Search in Google Scholar

[7] Ostrowska, K, Gaska, A., Sladek, J. (2014). Determining the uncertainty of measurement with the use of a Virtual Coordinate Measuring Arm. The International Journal of Advanced Manufacturing Technology, 71 (1-4), 529-537.10.1007/s00170-013-5486-8Search in Google Scholar

[8] Aguado, S., Santolaria, J., Samper, D., Aguilar, J.J. (2013). Influence of measurement noise and laser arrangement on measurement uncertainty of laser tracker multilateration in machine tool volumetric verification. Precision Engineering, 37 (4), 929-943.10.1016/j.precisioneng.2013.03.006Search in Google Scholar

[9] Halaj, M., Gros, P., Kurekova, E. (2005). Testing of the repeated accuracy of positioning of the plasma cutting head. In Instruments and Control : XXX. ASR´05 Seminar. Ostrava, Czech Republic: VSB - Technical University of Ostrava, 175-182.Search in Google Scholar

[10] Gros, P., Kurekova, E. (2005). Advanced experiments design for the three-torch plasma cutter testing. In Measurement 2005 : 5th International Conference on Measurement. Bratislava, SR: IMS SAS, 530-533.Search in Google Scholar

[11] Palenčar, R., Halaj, M., Kurekova, E. (2007). Evaluation of the positional deviation of numerically controlled axes. Measurement Science Review, 7 (1), 27-30.Search in Google Scholar

[12] Loebl, T., Kurekova, E, Palenčar, R. (2009). Possibilities of improving of positional precision of machine tools with linear axes. In IMEKO XIX World Congress : Fundamental and Applied Metrology, 1827-1831.Search in Google Scholar

[13] Olazagoitia, J.L., Wyatt, S. (2007). New PKM Tricept T9000 and its application to flexible manufacturing at aerospace industry. SAE Technical Paper 2007-01-3820.10.4271/2007-01-3820Search in Google Scholar

[14] Siciliano, B. (1999). The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm. Robotica, 17 (4), 437-445.10.1017/S0263574799001678Search in Google Scholar

[15] Pritschow, G. (2000). Parallel kinematic machines (PKM) - limitations and new solutions. CIRP Annals - Manufacturing Technology, 49 (1), 275-280.10.1016/S0007-8506(07)62945-XSearch in Google Scholar

[16] Besnard, S., Khalil, W. (2001) Identifiable parameters for parallel robots kinematic calibration. In IEEE International Conference on Robotics and Automation, Vol. 3, 2859-2865.10.1109/ROBOT.2001.933055Search in Google Scholar

[17] Merlet, J.P. (2006). Parallel Robots : Second Edition. Springer.Search in Google Scholar

[18] PKM Tricept, http://www.pkmtricept.com.Search in Google Scholar

[19] Kollath, Ľ., Halaj, M., Kurekova, E. (2009) Positioning accuracy of non-conventional production machines. In IMEKO XIX World Congress : Fundamental and Applied Metrology, 2099-2102.Search in Google Scholar

[20] Omachelova, M., Martišovitš, I., Kurekova, E., Kollath, Ľ. (2013). Analytical expression of the lengths of tricept telescopic rods ejection. In Instruments and Control : XXXVII. Seminar ASR´13. Ostrava, Czech Republic: VSB - Technical University of Ostrava, 175-182.Search in Google Scholar

[21] Omachelova, M., Kurekova, E., Halaj, M., Martišovitš, I. (2014). Theoretical aspects of control of the Tricept type parallel kinematic structure. In 15th International Carpathian Control Conference. IEEE, 393-397.10.1109/CarpathianCC.2014.6843634Search in Google Scholar

[22] Onderova, I., Kollath, L. (2014). Testing and verification of selected technological parameters of the PKS. In 15th International Carpathian Control Conference. IEEE, 398-40210.1109/CarpathianCC.2014.6843635Search in Google Scholar

Recommended articles from Trend MD

Plan your remote conference with Sciendo