Elasto-geometrical modeling and calibration of redundantly actuated PKMs

Redundantly actuated parallel kinematic machines (PKMs) offer a number of advantages compared to classical non-redundant PKMs. Particularly, they show a better stiffness thanks to singularity avoidance and they have an improved repeatability due to a better behavior against backlashes. The main problem with the calibration of these machines is that the redundancy leads to some mechanical strains in their structure. This makes it difficult to identify the geometrical errors of their structure without taking into account the effects of the elastic deformations. The main originality of this work is to propose an efficient elasto-geometrical and calibration method that allows the identification of both the geometrical and stiffness parameters of redundantly actuated parallel mechanisms with slender links. The first part of the paper explains the proposed method through its application on a simple redundant planar mechanism. The second part deals with its experimental application to the redundant Scissors Kinematics machine.