Cognibotics Ab

Peter Helgosson

Klas Nilsson

Torgny Brogardh

Torgny BROGÅRDH

A method for determining placement of support-platform joints () on a support-platform () of a parallel kinematic manipulator, PKM. The PKM comprises: the support-platform (), a first support linkage (SL), a second support linkage (SL) and a third support linkage (SL). The first support linkage (SL), the second support linkage (SL) and the third support linkage (SL) together comprises at least five support-links (). The method comprises estimating (S) parameters indicative of stiffness for the PKM, based on a kinematic model and an elastic model of the PKM and chosen defined forces and/or torques applied to a tool () during a processing sequence, and checking (S) whether the estimated parameters indicative of stiffness of the PKM fulfill one or more stiffness criteria. Upon the estimated parameters indicative of stiffness fulfilling one or more stiffness criteria, the method comprises choosing (S) the current placement configuration as an optimal placement configuration of the support-platform joints. The disclosure also relates to a system comprising a computer configured to perform the method and to output an optimal placement configuration, and a PKM with support-platform joints that are placed to the support-platform according to the optimal placement configuration outputted by the computer. The disclosure also relates to PKMs with support-platform joints that are placed to the support-platform to achieve high stiffness.

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Bristol, United Kingdom

Peter Helgosson