Application-Oriented Analysis of Hexaglide Pose Accuracy in Through-Hole Assembly of Electronic Components

Polikarpov, M; Mehmood, Y; Deuse, J

Application-Oriented Analysis of Hexaglide Pose Accuracy in Through-Hole Assembly of Electronic Components

Polikarpov, M Mehmood, Y Deuse, J

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Publisher:: MDPI
Publication Type:: Journal Article
Citation:: Actuators, 2025, 14, (9)
Issue Date:: 2025-09-01

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Field	Value	Language
dc.contributor.author	Polikarpov, M
dc.contributor.author	Mehmood, Y
dc.contributor.author	Deuse, J https://orcid.org/0000-0003-4066-4357
dc.date.accessioned	2026-01-05T04:53:57Z
dc.date.available	2026-01-05T04:53:57Z
dc.date.issued	2025-09-01
dc.identifier.citation	Actuators, 2025, 14, (9)
dc.identifier.issn	2076-0825
dc.identifier.issn	2076-0825
dc.identifier.uri	http://hdl.handle.net/10453/191269
dc.description.abstract	Hexaglide parallel manipulators are characterized by high accuracy and dynamic performance, which makes them suitable for industrial high-precision assembly tasks such as placement of electronic THT components on printed circuit boards. In this paper we describe an assembly system that comprises a Hexaglide manipulator with vertical ball screws, moving printed circuit boards relative to stationary THT components. We evaluate the effects of the manufacturing tolerances of machine parts, such as bar length tolerance, ball screw axis position uncertainty, and ball screw axis orientation uncertainty, on Hexaglide end-effector pose accuracy using a geometric simulation study based on stochastic tolerance sampling. In the investigated configuration and under standard industrial tolerances, bar length inaccuracy and axis position uncertainty lead to significant position and rotation deviations for the Hexaglide end-effector in the horizontal plane that need to be compensated for by control algorithms to enable THT assembly using the Hexaglide prototype. The geometric simulation method applied in this paper can be used by designers of Hexaglide machines to study and evaluate different machine configurations.
dc.language	English
dc.publisher	MDPI
dc.relation.ispartof	Actuators
dc.relation.isbasedon	10.3390/act14090446
dc.rights	info:eu-repo/semantics/openAccess
dc.subject.classification	4007 Control engineering, mechatronics and robotics
dc.subject.classification	4008 Electrical engineering
dc.title	Application-Oriented Analysis of Hexaglide Pose Accuracy in Through-Hole Assembly of Electronic Components
dc.type	Journal Article
utslib.citation.volume	14
pubs.organisational-group	University of Technology Sydney
pubs.organisational-group	University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	University of Technology Sydney/UTS Groups
pubs.organisational-group	University of Technology Sydney/UTS Groups/Centre for Advanced Manufacturing (CAM)
utslib.copyright.status	open_access	*
dc.rights.license	This work is licensed under a Creative Commons Attribution 4.0 International License (CC BY 4.0). To view a copy of this license, visit https://creativecommons.org/licenses/by/4.0/
dc.date.updated	2026-01-05T04:53:56Z
pubs.issue	9
pubs.publication-status	Published
pubs.volume	14
utslib.citation.issue	9

Abstract:

Hexaglide parallel manipulators are characterized by high accuracy and dynamic performance, which makes them suitable for industrial high-precision assembly tasks such as placement of electronic THT components on printed circuit boards. In this paper we describe an assembly system that comprises a Hexaglide manipulator with vertical ball screws, moving printed circuit boards relative to stationary THT components. We evaluate the effects of the manufacturing tolerances of machine parts, such as bar length tolerance, ball screw axis position uncertainty, and ball screw axis orientation uncertainty, on Hexaglide end-effector pose accuracy using a geometric simulation study based on stochastic tolerance sampling. In the investigated configuration and under standard industrial tolerances, bar length inaccuracy and axis position uncertainty lead to significant position and rotation deviations for the Hexaglide end-effector in the horizontal plane that need to be compensated for by control algorithms to enable THT assembly using the Hexaglide prototype. The geometric simulation method applied in this paper can be used by designers of Hexaglide machines to study and evaluate different machine configurations.

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http://hdl.handle.net/10453/191269