Error modelling and validation of a high-precision five degree of freedom hybrid mechanism for high-power high-repetition rate laser operations

Karim, Shah; Piano, Samanta; Leach, Richard K.; Tolley, Martin

Abstract

The accuracy, repeatability and speed requirements of high-power laser operations demand the employment of five degree of freedom motion control solutions that are capable of positioning and orientating the target with respect to the laser(s)-target interaction point with high accuracy and precision. The combined serial and parallel kinematic (hybrid) mechanism reported in this paper is a suitable candidate for this purpose; however, a number of error sources can affect its performance. A kinematic model to analyse the errors causing the positional and orientational deviations of the target is described considering two rotational degrees of freedom of the hybrid mechanism. Strategies are outlined to simplify the error analysis and to determine the error parameters of the mechanism using the error model and an experimental technique.

Citation

Karim, S., Piano, S., Leach, R. K., & Tolley, M. (2018). Error modelling and validation of a high-precision five degree of freedom hybrid mechanism for high-power high-repetition rate laser operations. Precision Engineering, 54, 182-197. https://doi.org/10.1016/j.precisioneng.2018.04.018

• Journal Article Type: Article
• Acceptance Date: Apr 30, 2018
• Online Publication Date: Jun 15, 2018
• Publication Date: 2018-10
• Deposit Date: May 15, 2018
• Publicly Available Date: Jun 15, 2018
• Journal: Precision Engineering
• Print ISSN: 0141-6359
• Electronic ISSN: 0141-6359
• Publisher: Elsevier
• Peer Reviewed: Peer Reviewed
• Volume: 54
• Pages: 182-197
• DOI: https://doi.org/10.1016/j.precisioneng.2018.04.018
• Keywords: degree of freedom; hybrid mechanism; parallel kinematic structure; RPS mechanism; generalised error parameters; parasitic motion; error model
• Public URL: https://nottingham-repository.worktribe.com/output/938553
• Publisher URL: https://www.sciencedirect.com/science/article/pii/S0141635917307651