Study on error sensibility of UPU parallel manipulator based on probability distribution

Guo, Sheng; Wang, Naiyue; Fang, Yuefa; Li, Xiaoxiao

doi:10.1109/icma.2011.5986241

Cited by 3 publications

(1 citation statement)

References 16 publications

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“…Kiper and Söylemez [58] showed that when the base and the moving platform of the PM are identical, the PM has 4-DoF and furthermore, it has a finite singularity mode with 5-DoF when the limb lengths are the same. Guo et al [59] investigated the position and orientation errors of the PM.…”

Section: Introductionmentioning

confidence: 99%

Enumeration and instantaneous mobility analysis of a class of 3-UPU parallel manipulators with equilateral triangular platforms

Boztaş

Kiper

2021

Robotica

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In this study, several joint axis orientations on equilateral platforms and the limbs of 3-UPU parallel manipulators (PMs) are examined. The generated joint layouts for the platforms were matched with each other to generate and enumerate manipulator architectures based on certain assumptions. The structures of thus obtained manipulators are examined and limb types were determined. These limb types were analyzed using screw theory. The instantaneous mobility of the manipulators and the motion characteristics of the moving platforms are tabulated. The finite mobility analysis of one of the manipulators is performed using a software package as an example. Among several different 3-UPU PM architectures, 118 novel 3-UPU PMs with non-parasitic 3-degrees-of-freedom are significantly important. The classified 3-UPU PMs with determined motion characteristics can be used by researchers as a design alternative for their specific design task.

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Section: Introductionmentioning

confidence: 99%

Enumeration and instantaneous mobility analysis of a class of 3-UPU parallel manipulators with equilateral triangular platforms

Boztaş

Kiper

2021

Robotica

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Introduction

Gogu¹

2013

Solid Mechanics and Its Applications

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Sensitivity analysis and prediction of the orientation error of a three translational parallel manipulator

Chebbi

Chouaibi

Affi

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper deals with the sensitivity analysis and the prediction of the orientation error limits of a three-DoF translational parallel manipulator (3-TPM). An analytical model relating the robot accuracy to the design parameters uncertainties, the joints clearances, the nominal pose, and the external load is developed. Based on this model, an analytical sensitivity analysis is performed to show the influence of each parameter on the orientation error. An algorithm based on the interval analysis is used to predict the bounds of the translator orientation error. Using the RAF robot as an example, it is shown that the pin length of the revolute joint, the width of the parallelogram structure and the radial clearance in the revolute joints are the most influential parameters on the orientation error of the manipulator. Moreover, one of the main results of this analysis is that an increase of the tolerances on certain parameters does not necessarily lead to an increase of the orientation error of the robot, for this specific example.

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Study on error sensibility of UPU parallel manipulator based on probability distribution

Cited by 3 publications

References 16 publications

Enumeration and instantaneous mobility analysis of a class of 3-UPU parallel manipulators with equilateral triangular platforms

Enumeration and instantaneous mobility analysis of a class of 3-UPU parallel manipulators with equilateral triangular platforms

Introduction

Sensitivity analysis and prediction of the orientation error of a three translational parallel manipulator

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