Kinematic sensitivity analysis of the 3-UPU parallel mechanism

Han, Chanhee; Kim, Jin-Wook; Kim, Jong-Won; Park, Frank Chongwoo

doi:10.1016/s0094-114x(02)00021-6

Cited by 118 publications

(77 citation statements)

References 3 publications

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“…Screw theory is introduced to describe the constraints in single kinematic branch, and then all branch constraints are synthesized to calculate the corresponding degrees of freedom according to equation (2). A screw can be expressed as equation (3).…”

Section: The Dof Of 2pc-cpr Parallel Mechanismmentioning

confidence: 99%

Kinematics and dynamics analysis of a novel 2PC-CPR parallel mechanism

Lin

Wang

Chun

et al. 2016

International Journal of Advanced Robotic Systems

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A novel parallel mechanism of two translations and one rotation freedom degrees two-prismatic joint-cylindrical jointone-cylindrical joint-prismatic joint-revolute joint (2PC-CPR) is proposed. The mechanism can be applied to write Chinese characters and to classify productions with the appropriated control. In this article, the kinematics and dynamics analysis are systematically conducted with the following procedure. First of all, the 2PC-CPR parallel mechanism is designed by G F set and the freedom degree of the mechanism is calculated using screw theory. Then the formula for solving the inverse/forward displacement, velocity, and acceleration is derived based on the geometrical constraints. The dynamics model is established by using virtual work principle. Finally, kinematics SimMechanics model is created by the co-simulation of SolidWorks and MATLAB software, and its workspace is analyzed.

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Section: The Dof Of 2pc-cpr Parallel Mechanismmentioning

confidence: 99%

Kinematics and dynamics analysis of a novel 2PC-CPR parallel mechanism

Lin

Wang

Chun

et al. 2016

International Journal of Advanced Robotic Systems

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“…The linearization method is a numerical method that does not provide verified results [6,7,8]. In [2,9,10,11], the authors worked on the sensitivity analysis of planar parallel manipulators using the linearization method.…”

Section: Introductionmentioning

confidence: 99%

“…The great impact that joint clearances can have on the endeffector pose of the manipulator was highlighted in [13]. Furthermore, as mentioned in [14], errors due to joint clearances can not be compensated by calibration contrary to manufacturing and assembling errors.…”

Section: Introductionmentioning

confidence: 99%

Sensitivity analysis of parallel manipulators using an interval linearization method

Tannous

Caro

Goldsztejn

2014

Mechanism and Machine Theory

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The subject of this paper is about an interval linearization method for the sensitivity analysis of manipulators to variations in their geometric parameters. First, the proposed method is presented. Then, three manipulators are used as illustrative examples: The five-bar mechanism, the 3-RRR planar parallel manipulator and the Orthoglide. The benefits and restrictions of the proposed method are also discussed and appropriate indices are derived to show the efficiency of the method. The obtained results are also compared with the results obtained with frequently used methods. The proposed method is simple to implement and provides verified results in low computational time and thus can be applied to complex robots such as the Orthoglide. In particular, the standard linearization method computes unreliable results near singularities, whereas the proposed interval linearization method automatically detects such situations.

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“…In that case we will just use the Linear Solve procedure to check if the workspace box satisfy the property (3). If this is the case we discard the workspace box otherwise it will be bisected.…”

Section: Improvement Based On Workpace Bisectionmentioning

confidence: 99%

“…Error analysis is a complex problem that has been mostly addressed in term of finding the positioning errors of a given robot at some specific location within the workspace [1], [2], [4], [3], [7], [8], [12], [13], [15], [16], [17], [18]. Our approach differs first because we will consider not only specific poses but the whole workspace.…”

Section: Introductionmentioning

confidence: 99%

Dimensional Synthesis of Parallel Robots with a Guaranteed Given Accuracy over a Specific Workspace

Merlet

Daney²

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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Abstract-We are considering a n d.o.f. parallel robot that has to move within a given workspace and whose geometry is defined by a set of parameters. The motion of active joints of the manipulator are measured with sensors with a known accuracy ±∆ρ. These errors together with bounded manufacturing errors on the parameters describing the geometry of the robot induces a positioning errors ∆X of the platform. We present an algorithm that allows one to determine geometries of the robot ensuring that these positioning errors will lie within pre-specified limits for any pose of the robot in its workspace even if the physical realization of the robot differs from the theoretical model while staying within the given manufacturing errors bounds. A by-product variant of this algorithm allows one to compute the maximal positioning errors of a given robot up to a predefined accuracy.

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Kinematic sensitivity analysis of the 3-UPU parallel mechanism

Cited by 118 publications

References 3 publications

Kinematics and dynamics analysis of a novel 2PC-CPR parallel mechanism

Kinematics and dynamics analysis of a novel 2PC-CPR parallel mechanism

Sensitivity analysis of parallel manipulators using an interval linearization method

Dimensional Synthesis of Parallel Robots with a Guaranteed Given Accuracy over a Specific Workspace

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