Machine performance assessment and enhancement for a hexapod machine

摘要

The focus of this study is to develop a sensor fused process modeling and control methodology to model, assess, and then enhance the performance of a hexapod machine for precision product realization. Deterministic modeling technique was used to derive models for machine performance assessment and enhancement. Sensor fusion methodology was adopted to identify the parameters of the derived models. Empirical models and computational algorithms were also derived and implemented to model, assess, and then enhance the machine performance. The developed sensor fusion algorithms can be implemented on a PC- based open architecture controller to receive information from various sensors, assess the status of the process, determine the proper action, and deliver the command to actuators for task execution. This will enhance a hexapod machine's capability to produce workpieces within the imposed dimensional tolerances.