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Dynamic modeling and control design for a parallel-mechanism-based meso-milling machine tool

Published online by Cambridge University Press:  28 August 2013

Adam Y. Le ,
James K. Mills  and
Beno Benhabib
Adam Y. Le*
Affiliation:
Department of Mechanical and Industrial Engineering, 5 King's College Rd, University of Toronto, Toronto, ON M5S 3G8, Canada
James K. Mills
Affiliation:
Department of Mechanical and Industrial Engineering, 5 King's College Rd, University of Toronto, Toronto, ON M5S 3G8, Canada
Beno Benhabib
Affiliation:
Department of Mechanical and Industrial Engineering, 5 King's College Rd, University of Toronto, Toronto, ON M5S 3G8, Canada
*
*Corresponding author. E-mail: [email protected]
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Summary

A novel rigid-body control design methodology for 6-degree-of-freedom (dof) parallel kinematic mechanisms (PKMs) is proposed. The synchronous control of PKM joints is addressed through a novel formulation of contour and lag errors. Robust performance as a control specification is addressed. A convex combination controller design approach is applied to address the problem of simultaneously satisfying multiple closed-loop specifications. The applied dynamic modeling approach allows the design methodology to be extended to 6-dof spatial PKMs. The methodology is applied to the design of a 6-dof PKM-based meso-milling machine tool and simulations are conducted.

Keywords

Parallel manipulatorsControl of robotic systemsManufacturingRobot dynamicsForce control
Type
Articles
Information
Robotica , Volume 32 , Issue 4 , July 2014 , pp. 515 - 532
Copyright
Copyright © Cambridge University Press 2013 

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