Kinematic accuracy research of a novel six-degree-of-freedom parallel robot with three legs

Fu, Jianxun; Gao, Feng; Chen, Weixing; Pan, Yang; Lin, Rongfu

doi:10.1016/j.mechmachtheory.2016.03.022

Cited by 33 publications

(17 citation statements)

References 26 publications

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“…In (12), is the error transfer coefficient of Δ . The value of is usually determined by the posture and structural parameters of the mechanism together.…”

Section: Considering the Error Of Spherical Joint Clearancementioning

confidence: 99%

“…The error model was established based on the screw theory with considerations of configuration (geometrical) errors. Based on a novel six-degree-of-freedom (DOF) parallel manipulator mechanism, Fu [12] studied the forward and inverse kinematics. The paper addressed the kinematic accuracy problem of the proposed new parallel robot with three legs due to the location of the U joint errors, clearance, and driving errors.…”

Section: Introductionmentioning

confidence: 99%

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Motion Reliability Analysis of the Delta Parallel Robot considering Mechanism Errors

Liu

Shang

Fan

et al. 2019

Mathematical Problems in Engineering

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Delta parallel robots are widely used in assembly detection, packaging sorting, precision positioning, and other fields. With the widespread use of robots, people have increasing requirements for motion accuracy and reliability. This paper considers the influence of various mechanism errors on the motion accuracy and analyzes the motion reliability of the mechanism. Firstly, we establish a kinematic model of the robot and obtain the relationship between the position of the end effector and the structural parameters based on the improved D–H transform rule. Secondly, an error model considering the dimension error, the error of revolute joint clearance, driving error, and the error of spherical joint clearance is established. Finally, taking an actual robot as an example, the comprehensive influence of mechanism errors on motion accuracy and reliability in different directions is quantitatively analyzed. It is shown that the driving error is a key factor determining the motion accuracy and reliability. The influence of mechanism errors on motion reliability is different in different directions. The influence of mechanism errors on reliability is small in the vertical direction, while it is great in the horizontal direction. Therefore, we should strictly control the mechanism errors, especially the driving angle, to ensure the motion accuracy and reliability. This research has significance for error compensation, motion reliability analysis, and reliability prediction in robots, and the conclusions can be extended to similar mechanisms.

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“…In (12), is the error transfer coefficient of Δ . The value of is usually determined by the posture and structural parameters of the mechanism together.…”

Section: Considering the Error Of Spherical Joint Clearancementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Motion Reliability Analysis of the Delta Parallel Robot considering Mechanism Errors

Liu

Shang

Fan

et al. 2019

Mathematical Problems in Engineering

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show abstract

“…The kinematic error of the manipulator is defined as the end effector's error between the actual pose and the nominal one, which is mainly caused by geometric tolerances, such as assembly and manufacturing error. Kinematic calibration is the most effective and economical method to improve accuracy [5]. This method is generally divided into four steps.…”

Section: Introductionmentioning

confidence: 99%

A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator

Zhang

Chen

et al. 2020

Symmetry

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This paper proposes a method for kinematic calibration of a 3T1R, 4-degree-of-freedom symmetrical parallel manipulator driven by two pairs of linear actuators. The kinematic model of the individual branched chain is established by using the local product of exponentials formula. Based on this model, the model of the end effector’s pose error is established from a pair of symmetrical branched chains, and a recursive least square method is applied for the parameter identification. By installing built-in sensors at the passive joints, a calibration method for a serial manipulator is eventually extended to this parallel manipulator. Specifically, the sensor installed at the second revolute joint of each branched chain is saved, replaced by numerical calculation according to kinematic constraints. The simulation results validate the effectiveness of the proposed kinematic error modeling and identification methods. The procedure for pre-processing compensation on this 3T1R parallel manipulator is eventually given to improve its absolute positioning accuracy, using the inverse of the calibrated kinematic model.

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“…As a matter of fact, the RPP robot is a kind of the robots being called series robots. While series robots benefit from appropriate characteristics such as large workspace [5], the end effector is attached to the base, which is opposite to the characteristics of the parallel robots [6]. As mentioned, while this gives a vast workspace, it causes that the load is not distributed on all the kinematic chains and the stiffness of the robot is also diminished.…”

Section: Introductionmentioning

confidence: 99%

Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization

Mahmoodabadi

Ziaei

2019

Journal of Robotics

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This paper endeavors to contribute to the field of optimal control via presenting an optimal fuzzy Proportional Derivative (PD) controller for a RPP (Revolute-Prismatic-Prismatic) robot manipulator based on particle swarm optimization and inverse dynamics. The Denavit-Hartenberg approach and the Jacobi method for each of the arms of the robot are employed in order to gain the kinematic equations of the manipulator. Furthermore, the Lagrange method is utilized to obtain the dynamic equations of motion. Hence, in order to control the dynamics of the robot manipulator, inverse dynamics and a fuzzy PD controller optimized via particle swarm optimization are used in this research study. The obtained results of the optimal fuzzy PD controller based on the inverse dynamics are compared to the outcomes of the PD controller, and it is illustrated that the optimal fuzzy PD controller shows better controlling performance in comparison with other controllers.

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Kinematic accuracy research of a novel six-degree-of-freedom parallel robot with three legs

Cited by 33 publications

References 26 publications

Motion Reliability Analysis of the Delta Parallel Robot considering Mechanism Errors

Motion Reliability Analysis of the Delta Parallel Robot considering Mechanism Errors

A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator

Inverse Dynamics Based Optimal Fuzzy Controller for a Robot Manipulator via Particle Swarm Optimization

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