Accuracy analysis of 3-DOF planar parallel robots

Abstract

Three-degree-of-freedom planar parallel robots are increasingly being used in applications where precision is of the utmost importance. Clearly, methods for evaluating the accuracy of these robots are therefore needed. The accuracy of well designed, manufactured, and calibrated parallel robots depends mostly on the input errors (sensor and control errors). Dexterity and other similar performance indices have often been used to evaluate indirectly the influence of input errors. However, industry needs a precise knowledge of the maximum orientation and position output errors at a given nominal configuration. An interval analysis method that can be adapted for this purpose has been proposed in the literature, but gives no kinematic insight into the problem of optimal design. In this paper, a simpler method is proposed based on a detailed error analysis of 3-DOF planar parallel robots that brings valuable understanding of the problem of error amplification.

Performance Indices for Parallel Robots Considering Motion/Force Transmissibility

“…For parallel robots, some performances such as workspace, singularity, stiffness [12,13] and accuracy [14] are still the basic problems which should be fully analyzed. Thus, these performance indices are suitable to be used in the design of parallel robots.…”

Optimal design of a 6-dof parallel measurement mechanism integrated in a 3-dof parallel machine-tool

“…Briot [17] presents the mathematical background necessary to study this function. He classifies four types of maximum (first, second, third and fourth kind) which are respectively in the whole bounding box, or on the faces, or on the edges or on the corners, of the bounding box.…”

Characteristics Analysis of a Novel 2-DOF Planar Parallel Mechanism

“…The parallel mechanism has high stiffness, great load capacity, small movement inertia and high precision, it is paid widespread attention in the research of robotics and machine tools [1][2][3]. Since the 1990s United States first applied parallel mechanisms to machine tools successfully, parallel machine tool has caused a great sensation and got great development [4,5].…”