Hexapod Machine Tool Error Analysis With Inclusion of System Dynamics

Abstract

Abstract Parallel robotic manipulators have been in use in industry for many years. For machine tool applications the overall tool tip error in position and orientation is of most concern. In this paper, the effect of various sources of error on overall positioning error from both a kinematics and a dynamics point of view is investigated. A comprehensive model for the Ingersoll Octahedral Hexapod milling machine is developed. A full dynamics simulation with feedback control is developed to implement emulation algorithms for error sources (e.g., joint stiffness, thermal expansion, joint location, and load). The error analysis methodology presented in this paper provides insight into how error sources play a role in platform positioning errors when the system dynamics are considered.