Enhancing PKM Accuracy by Separating Actuation and Measurement: A 3DOF Case Study

David Corbel 1 Olivier Company 1 Sébastien Krut 1 François Pierrot 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper proposes an approach for enhancing parallel kinematics machine accuracy by separating actuation and measurement. We describe the interest of the separation actuation and measurement concept and define the sensor redundancy used for designing the measurement device. Then, we present the design of a parallel machine-tool prototype with an independent measuring system, MoM3, as well as the optimization of its measuring system. Lastly, we present the control schemes used on the prototype, and provide experimental results to show the efficiency of separation actuation and measurement applied to a machine-tool.
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CNRS | DEXTER | LIRMM | TDS-MACS | MIPS | UNIV-MONTPELLIER

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David Corbel, Olivier Company, Sébastien Krut, François Pierrot. Enhancing PKM Accuracy by Separating Actuation and Measurement: A 3DOF Case Study. Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2010, 2 (3), pp.0310008. ⟨10.1115/1.4001779⟩. ⟨lirmm-00539838⟩

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