The Influence of Kinematic Joints Clearances on the Positioning Accuracy of 3DOF Delta Parallel Robots

Andrioaia, Dragos; Stan, Gheorghe; Funaru, Marian; Obreja, Claudiu

doi:10.4028/www.scientific.net/amm.371.406

Cited by 4 publications

(5 citation statements)

References 3 publications

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“…The method has a numerical solution and allows calculation of maximum positioning errors at a reference point belonging to the working space [3,4]. The block diagram of the method being used for determining the way how dimensional deviations of the kinematic elements affect the positioning accuracy is shown at Fig.…”

Section: Methods Presentationmentioning

confidence: 99%

“…they keep their value and sign for any manipulator configuration, as they have fixed values. In function of the variation interval of kinematic element dimensional deviations, the borders within which the effective position of the end-effecter may vary at a controlled point, can be calculated, so that the positioning errors may be settled even from the designing stage of the robot parallel structure [3].…”

Section: Introductionmentioning

confidence: 99%

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Influence of Dimensional Deviations on the Positioning Accuracy of Robots with Delta 3 DOF Parallel Structure

Andrioaia

Stan

Cristea

2014

AMM

Self Cite

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In the last years, due to the advantages presented by Delta 3 DOF parallel structure robots, they have been used in the field of high accuracy mechanical processing. In this field, it is demanded that the manufacture of components present high quality. The positioning accuracy for the parallel structure Delta 3 DOF robots can be affected by errors entered from the mechanical structure or by the control and command system. The accuracy class in which the mechanical elements are manufactured can affect the positioning accuracy within the robots with Delta 3 DOF parallel structure. In this paper, the authors study the ways in which the dimensional deviations of the kinematic elements influence the positioning accuracy. The method which is used correlates the dimensional deviations with the positioning accuracy. Therefore, the positioning accuracy of the Delta 3 DOF robots can be established within the design process.

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Section: Methods Presentationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Influence of Dimensional Deviations on the Positioning Accuracy of Robots with Delta 3 DOF Parallel Structure

Andrioaia

Stan

Cristea

2014

AMM

Self Cite

View full text Add to dashboard Cite

show abstract

“…Compared with the traditional series mechanism, the parallel mechanism has the advantages of large rigidity, compact structure, fast dynamic response, and high precision [1,2]. In recent years, it has become a research hot spot in industry and academia.…”

Section: Introductionmentioning

confidence: 99%

Kinematics Analysis and Simulation of a Novel 3T Parallel Mechanism

Huang

Wang

et al. 2022

Mathematical Problems in Engineering

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Three translational (3T) degree-of-freedom (DOF) parallel mechanism is widely used in the industrial field because of its compact structure and excellent dynamic performance. Combined with the 3T parallel mechanism studied at this stage, a novel 3T parallel mechanism is proposed. Firstly, the DOF of the mechanism is analyzed by using the screw theory. Secondly, the position, velocity, and singularity of the mechanism are analyzed, and the workspace of the mechanism is analyzed through the positive position solution. Then, the trajectory planning in joint space and coordinate space is completed, and a common mathematical model of grasping trajectory is established. Thirdly, the kinematics simulation analysis of the mechanism is carried out. Finally, the prototype platform was built and the grasping experiment was carried out, which verified the rationality of the mechanism design and the correctness of the theoretical analysis.

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“…Ghazi et al analyzed the kinematic accuracy of a 3-DOF Delta parallel manipulator via both Jacobian and geometric error models [22]. Dragos et al researched the influence of dimensional deviations, kinematic joints clearances and input errors introduced by the actuator on the positioning accuracy of the 3-DOF Delta parallel robots [23][24][25]. Tian and Zhang Designed generalized parallel manipulators, and the position analysis of the GPM was carried out to evaluate the workspace and reveal the motion characteristics [26].…”

Section: Introductionmentioning

confidence: 99%

Sensitivity Analysis of Reliability of Low-Mobility Parallel Mechanisms Based on a Response Surface Method

Yang

et al. 2021

Applied Sciences

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Kinematic accuracy is a crucial indicator for evaluating the performance of mechanisms. Low-mobility parallel mechanisms are examples of parallel robots that have been successfully employed in many industrial fields. Previous studies analyzing the kinematic accuracy analysis of parallel mechanisms typically ignore the randomness of each component of input error, leading to imprecise conclusions. In this paper, we use homogeneous transforms to develop the inverse kinematics models of an improved Delta parallel mechanism. Based on the inverse kinematics and the first-order Taylor approximation, a model is presented considering errors from the kinematic parameters describing the mechanism’s geometry, clearance errors associated with revolute joints and driving errors associated with actuators. The response surface method is employed to build an explicit limit state function for describing position errors of the end-effector in the combined direction. As a result, a mathematical model of kinematic reliability of the improved Delta mechanism is derived considering the randomness of every input error component. And then, reliability sensitivity of the improved Delta parallel mechanism is analyzed, and the influences of the randomness of each input error component on the kinematic reliability of the mechanism are quantitatively calculated. The kinematic reliability and proposed sensitivity analysis provide a theoretical reference for the synthesis and optimum design of parallel mechanisms for kinematic accuracy.

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The Influence of Kinematic Joints Clearances on the Positioning Accuracy of 3DOF Delta Parallel Robots

Cited by 4 publications

References 3 publications

Influence of Dimensional Deviations on the Positioning Accuracy of Robots with Delta 3 DOF Parallel Structure

Influence of Dimensional Deviations on the Positioning Accuracy of Robots with Delta 3 DOF Parallel Structure

Kinematics Analysis and Simulation of a Novel 3T Parallel Mechanism

Sensitivity Analysis of Reliability of Low-Mobility Parallel Mechanisms Based on a Response Surface Method

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