Error Modeling and Experimental Validation of a Planar 3-PPR Parallel Manipulator With Joint Clearances

Abstract

This paper deals with the error modeling and analysis of a 3-PPR planar parallel manipulator with joint clearances. The kinematics and the Cartesian workspace of the manipulator are analyzed. An error model is established with considerations of both configuration errors and joint clearances. Using this model, the upper bounds and distributions of the pose errors for this manipulator are established. The results are compared with experimental measurements and show the effectiveness of the error prediction model.

Stiffness characterization of a 3-PPR planar parallel manipulator with actuation compliance

“…The deflection of the robot was measured via an experimental setup composed of a single Charge-Coupled Device (CCD) camera with an interface 18 :…”

Inverse dynamics and control of a 3-DOF planar parallel (U-shaped 3-PPR) manipulator

“…Few of the commercially available and research planar parallel robotic platforms along with the proposed manipulator are presented in Fig.1. A small number of research works have been carried out based on the 3-PPR configuration and reported in the literature [48][49][50][51][52][53]. However, these works are limited to kinematic analysis, error analysis, stiffness analysis and mechanical optimum design aspects of the manipulator.…”

Analysis of the Kinematic Accuracy Reliability of a 3-DOF Parallel Robot Manipulator

“…Thereafter, a sample value of the terminal Δp can be obtained by the matrix in equation (12). The frequency distribution histogram can be obtained on the basis of the multiple sampling values.…”

“…According to equation (12), the position errors of the robot in the given reference point also obey the normal distribution in every direction: x, y, z, and the final error direction. The mean and variance can be approximately obtained by the moment method and can be expressed as follows: The final position errors of the position error can be expressed as follows:…”

“…Upon differentiation of equation (6), the position and orientation error model of point p with respect to each limb is obtained as follows [11][12]:…”