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Research Papers

Accuracy Analysis of Parallel Manipulators With Joint Clearance

[+] Author and Article Information
Jian Meng

Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kongeejmeng@ee.ust.hk

Dongjun Zhang, Zexiang Li

Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong

R is a revolute joint.

Readers may refer to Refs. 14 and (16) for a full derivation of these constraints.

Note that the loop closure Jacobian here only involves twists of passive joints.

J. Mech. Des 131(1), 011013 (Dec 16, 2008) (9 pages) doi:10.1115/1.3042150 History: Received March 22, 2007; Revised October 06, 2008; Published December 16, 2008

Due to joint clearance, a parallel manipulator’s end-effector exhibits position and orientation (or collectively referred to as pose) errors of various degrees. This paper aims to provide a systematic study of the error analysis problem for a general parallel manipulator influenced by joint clearance. We propose an error prediction model that is applicable to planar or spatial parallel manipulators that are either overconstrained or nonoverconstrained. By formulating the problem as a standard convex optimization problem, the maximal pose error in a prescribed workspace can be efficiently computed. We present several numerical examples to show the applicability and the efficiency of the proposed method.

FIGURES IN THIS ARTICLE
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Copyright © 2009 by American Society of Mechanical Engineers
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References

Figures

Grahic Jump Location
Figure 1

Pose error of a rigid body

Grahic Jump Location
Figure 2

Clearance-affected revolute joint

Grahic Jump Location
Figure 3

Clearance-affected prismatic joint

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Figure 4

Tsai’s three-UPU manipulator

Grahic Jump Location
Figure 5

A parallelogram joint

Grahic Jump Location
Figure 6

Orthoglide manipulator

Grahic Jump Location
Figure 7

Maximum x-translation error

Grahic Jump Location
Figure 8

Maximum y-translation error

Grahic Jump Location
Figure 9

Maximum z-translation error

Grahic Jump Location
Figure 10

Maximum x-rotation error

Grahic Jump Location
Figure 11

Maximum y-rotation error

Grahic Jump Location
Figure 12

Maximum z-rotation error

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