Theoretical Positioning Accuracy for Serial and Parallel Kinematic Structure

Open access

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.

[1] Knapp, W. (2002). Measurement uncertainty and machine tool testing. CIRP Annals - Manufacturing Technology, 51 (1), 459-462.

[2] Schwenke, H. et al. (2008). Geometric error measurement and compensation of machines-An update. CIRP Annals - Manufacturing Technology, 57 (2), 660-675.

[3] Sartori, S., Zhang, G.X. (1995). Geometric error measurement and compensation of machines. CIRP Annals - Manufacturing Technology, 44 (2), 599-609.

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

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

[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.

[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.

[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.

[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.

[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.

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

[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.

[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.

[14] Siciliano, B. (1999). The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm. Robotica, 17 (4), 437-445.

[15] Pritschow, G. (2000). Parallel kinematic machines (PKM) - limitations and new solutions. CIRP Annals - Manufacturing Technology, 49 (1), 275-280.

[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.

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

[18] PKM Tricept, http://www.pkmtricept.com.

[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.

[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.

[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.

[22] Onderova, I., Kollath, L. (2014). Testing and verification of selected technological parameters of the PKS. In 15th International Carpathian Control Conference. IEEE, 398-402

Measurement Science Review

The Journal of Institute of Measurement Science of Slovak Academy of Sciences

Journal Information


IMPACT FACTOR 2017: 1.345
5-year IMPACT FACTOR: 1.253



CiteScore 2017: 1.61

SCImago Journal Rank (SJR) 2017: 0.441
Source Normalized Impact per Paper (SNIP) 2017: 0.936

Cited By

Metrics

All Time Past Year Past 30 Days
Abstract Views 0 0 0
Full Text Views 117 117 10
PDF Downloads 41 41 4