The major scope of this thesis was the improvement of the accuracy of the Pentapod for slow movements. Consequently, all the work was divided into four distinct parts. First of all, the study of the tendency of the gravity forces took place. Thus, four different models were implemented. Once the three best were chosen, a comparison between them was performed. As the models displayed nearly the same results, the fastest to be compiled was chosen. Afterwards, the analysis of the behaviour of the friction force was developed. Prior to this step, the adequate data had to be created. Once the friction model for all the actuators was obtained, the implementation of both models (gravity and friction) into the control system was performed. At this point, a special block to avoid force discontinuities at the beginning of the movement was implemented. Finally, the old and the new control system implemented were compared. Moreover, the comparison allowed to know which forces exert the biggest influence on the Pentapod. At the end, the motion errors decreased and the precision of the parallel manipulator was improved.

Outgoing