Tool center position determination of deformable sliding star by redundant measurement

Abstract

This paper deals with the procedures for the determination of TCP (tool center position) of machine tool of PKM (parallel kinematical machines) structure in the case that PKM must be considered as compliant mechanism. Two different approaches are described and investigated. The first approach is based on the model of compliant mechanism of PKM. The second approach is based on the redundant measurement that can replace the stiffness knowledge and force balance computation by pure geometric consideration. These procedures are described on PKM Sliding Star.