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In the last decades, an increasing attention has been paid to the study of different parallel structure mechanisms and their applications, mainly triggered by Stewart that presented an aircraft simulator system. Parallel structure features provide big advantages in potential applications. For example, parallel robots may give higher speed and acceleration,(More)
This paper presents a new error kinematic model containing twelve parameters for the three linear actuators of the Gantry-Tau parallel kinematic manipulator. Three different types of measurement equipment, laser interferometers, linear encoders and double-ball bars, can successfully be used to calibrate the linear actuators. A method for selecting an(More)
One key competence for robot manufacturers is robot control, defined as all the technologies needed to control the electromechanical system of an industrial robot. By means of modeling, identification, optimization , and model-based control it is possible to reduce robot cost, increase robot performance, and solve requirements from new automation concepts(More)
The Gantry-Tau is a recently developed parallel kinematic manipulator (PKM). Since the actuators are stationary it possesses the following characteristics: high speed, high acceleration , small moving mass and high static and dynamic accuracy. Since all link forces in the structure are axial, high stiffness can also be achieved. One of the main advantages(More)
In this paper the invited session and the 4 original contributions are described first. Then the details of the first paper in the invited session is presented. In this first paper a new method for calculating the dynamic stiffness (frequency response) of parallel kinematic machines (PKMs) with six links, or Hexapods, is presented. The method assumes that(More)
The Gantry-Tau is a parallel kinematic manipulator (PKM) that overcomes the workspace limitations of typical PKMs, while retaining PKM benefits such as small moving masses and high stiffness. An experimental verification of the dynamics of the Gantry-Tau is presented for the first time in this paper. A new friction model based on axial forces in the links(More)
This paper describes the design and implementation of a platform for fast external sensor integration in an industrial robot control system. As an application and motivating example, the implementation of force controlled grinding and deburring within the AUTOFETT-project (EU Growth Programme) is reported.
In spite of the high performance potential for manipulator structures based on parallel kinematics, this technology has not yet made any big impact on industrial automation. However, there is an interesting trend towards the use of general purpose industrial robots for applications with higher demands on accuracy, stiffness, eigenfrequency, cycle time etc.(More)
Here we present a method for high-precision drilling using an industrial robot with high-bandwidth force feedback, which is used for building up pressure to clamp-up an end-effector to the work-piece surface prior to drilling. The focus is to eliminate the sliding movement (skating) of the end-effector during the clamp-up of the end-effector to the(More)