Position and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees‐of‐freedom

Yao, Jianjun; Gao, Shuang; Jiang, Guilin; Hill, Thomas L.; Han, Yang; Xiao, Rui; Chen, Shuo

doi:10.1049/iet-its.2014.0027

Cited by 7 publications

(2 citation statements)

References 11 publications

(11 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…One of the classical error modelling approaches is the small perturbation method of homogeneous transformation matrices based on the Denavit-Hartenberg 8 (D-H) conventions, the approach can accurately express the physical significance and accumulation effect of the error sources and there is no tedious matrix differential operation in the process of error modelling. Yao et al 9 established a static position and orientation error model for a wheeled train uncoupling robot based on this method, analysed the impact of parameter error on position error, and used the input motion planning method to improve the positional accuracy of the robot. The error model for a hybrid parallel robot is proposed by Wang et al 10 using the same method, and kinematic calibration and error compensation were researched on that basis; however, the parameters become discontinuous when this method is used to research parallel adjacent axes.…”

Section: Introductionmentioning

confidence: 99%

A manufacturing-oriented error modelling method for a hybrid machine tool based on the 3-PRS parallel spindle head

Song

Zhiwen

et al. 2019

Advances in Mechanical Engineering

View full text Add to dashboard Cite

Five-axis hybrid machine tools are widely used due to the advantages of high speed, high precision, and good performance in the aviation and aerospace manufacturing industry. Many scholars have studied the basic theories and key technologies along with the widespread attention of academia and industry thereon. An integrated geometric error modelling method, under the unified coordinate system framework for a general five-axis hybrid machine tool based on a 3-PRS parallel spindle head, is proposed. The kinematic inverse model of a hybrid machine tool is built using a vector chain method. On the basis of the analysis of the various error sources, an integrated geometric error model is developed based on perturbation theory. Then, the influence of each error source of a hybrid machine tool is investigated at the end-effector. Screw theory is applied to research error source separation for the 3-PRS parallel spindle head of a hybrid machine tool, and a sensitivity analysis of the error sources is undertaken using statistical methods. Based on this, the compensable error sources and non-compensable error sources of a hybrid machine tool are separated successfully. The non-compensable error sources must be strictly controlled in the process of design and manufacture, while the compensable error sources can be compensated inexpensively by software after reaching some degree of accuracy in the design and manufacture. This research provides a theoretical reference for this kind of machine tool design and its use in manufacturing.

show abstract

Section: Introductionmentioning

confidence: 99%

A manufacturing-oriented error modelling method for a hybrid machine tool based on the 3-PRS parallel spindle head

Song

Zhiwen

et al. 2019

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…The matrix perturbation method based on Denavit-Hartenberg (D-H) homogeneous transformation is a classical approach for error modeling. 1,2 Yao et al 3 applied the matrix differential method to establish a static position and orientation error model and analyzed their contributions to the pose error of end-effector for a wheeled train uncoupling robot with 4 degrees of freedom (DOF). And the input motion planning method is adopted to improve the position and orientation accuracy.…”

Section: Introductionmentioning

confidence: 99%

Error modeling and tolerance design of a parallel manipulator with full-circle rotation

Shao

Zhang

et al. 2016

Advances in Mechanical Engineering

View full text Add to dashboard Cite

A method for improving the accuracy of a parallel manipulator with full-circle rotation is systematically investigated in this work via kinematic analysis, error modeling, sensitivity analysis, and tolerance allocation. First, a kinematic analysis of the mechanism is made using the space vector chain method. Using the results as a basis, an error model is formulated considering the main error sources. Position and orientation error-mapping models are established by mathematical transformation of the parallelogram structure characteristics. Second, a sensitivity analysis is performed on the geometric error sources. A global sensitivity evaluation index is proposed to evaluate the contribution of the geometric errors to the accuracy of the end-effector. The analysis results provide a theoretical basis for the allocation of tolerances to the parts of the mechanical design. Finally, based on the results of the sensitivity analysis, the design of the tolerances can be solved as a nonlinearly constrained optimization problem. A genetic algorithm is applied to carry out the allocation of the manufacturing tolerances of the parts. Accordingly, the tolerance ranges for nine kinds of geometrical error sources are obtained. The achievements made in this work can also be applied to other similar parallel mechanisms with full-circle rotation to improve error modeling and design accuracy.

show abstract

Assessing CO2 emissions in China’s iron and steel industry: A dynamic vector autoregression model

Lin

2016

Applied Energy

129

View full text Add to dashboard Cite

Position and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees‐of‐freedom

Cited by 7 publications

References 11 publications

A manufacturing-oriented error modelling method for a hybrid machine tool based on the 3-PRS parallel spindle head

A manufacturing-oriented error modelling method for a hybrid machine tool based on the 3-PRS parallel spindle head

Error modeling and tolerance design of a parallel manipulator with full-circle rotation

Assessing CO2 emissions in China’s iron and steel industry: A dynamic vector autoregression model

Contact Info

Product

Resources

About