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Contour Error in Parallel Kinematics Machining by Tracking Error (2008)

Kuhfuß, B.; Amirian, G.; Schenck, C.:

13th International Conference on Machine Design and Production (UMTIK 2008), September 3rd-5th, 2008, Istanbul, Türkei


In serial kinematic machine tools the motion of the machine axes and especially their drive dynamics are directly translated to the tool center point (TCP), but in most parallel kinematics machines (PKM) the motion is transformed to the TCP nonlinearly. This general problem is illustrated by coupled simulation of a controller and a mechanical model of different mechanisms with parallel kinematics. In this paper two different PKM are modelled with fixed length struts and the mechanical model is reduced to the kinematics neglecting the effects of inertia, flexibility, friction and backlash. Despite this simplification virtual tests show good agreement with physical measurements.