Volumetric error analysis and architecture optimization for accuracy of HexaSlide type parallel manipulators

Ryu, Jeha; Cha, Jongeun

doi:10.1016/s0094-114x(02)00126-x

Cited by 79 publications

(56 citation statements)

References 17 publications

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“…There are some other manipulability and accuracy indices, such as global conditioning index, uniformity of manipulability and maximal positioning error index et al All the above definitions of the kinetostatic indices do not take into account other factor affecting the accuracy of parallel robots, such as manufacturing tolerances, clearance and friction in the joints. In order to include these factors in accuracy analysis, Monte Carlo statistical simulation technique can be used to evaluate the accuracy of parallel manipulators (Ryu & Cha, 2003).…”

Section: Isotropymentioning

confidence: 99%

A Novel 4-DOF Parallel Manipulator H4

Wu¹,

Yin²

2008

Parallel Manipulators, Towards New Applications

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Section: Isotropymentioning

confidence: 99%

A Novel 4-DOF Parallel Manipulator H4

Wu¹,

Yin²

2008

Parallel Manipulators, Towards New Applications

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“…Dimensional synthesis is a problem that has attracted a lot of attention but most of the works focus on design for a specific robot's feature such as workspace [1], [5], [10], [13], [14] or accuracy [7], [21], [22] (this list is far from exhaustive and focus on closed-chain robots).…”

Section: Dimensional Synthesis: State Of the Artmentioning

confidence: 99%

Optimal design of robots

Merlet¹

2005

Robotics: Science and Systems I

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Abstract-Synthesis of robots may be decomposed into two processes: structural synthesis (determine the general arrangement of the mechanical structure such as the type and number of joints and the way they will be connected) and dimensional synthesis (determine the length of the links, the axis and location of the joints, the necessary maximal joint forces/torques,. . .). The performances that may be obtained for a robot are drastically dependent on both synthesis. Although for serial robots general trends may be derived only from the structure a realistic comparison between two different structures may only be made after a careful dimensional synthesis and this is even more so for closed-loop robot (such as parallel robots).We will present a dimensional synthesis approach based on the design requirements that allows one to obtain almost all feasible design solutions that are guaranteed to satisfy the requirements, even taking into account manufacturing tolerances. Practical examples of 6-DOF robot design will be presented.

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“…Besides, Caro et al [7] built up a resistance amalgamation strategy for instruments in view of a strong plan approach. Ryu et al determined a volumetric blunder show and an aggregate mistake change grid from a differential backwards kinematic condition, which incorporates all kinematic mistake sources [8]. Liu et al detailed an approach of geometric mistake demonstrating for bring down portability manipulators by expressly isolating the compensable and un compensable blunder sources influencing the stance precision [9].…”

Section: Introductionmentioning

confidence: 99%

Tolerance Analysis of RPRPR Parallel Manipulator

2017

IJMTER

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Abstract-Registering the maximal stance mistake given an upper bound on display parameters vulnerabilities, called irritations in this paper, is trying for parallel robots, for the most part in light of the fact that the direct kinematic issue has a few arrangements, which end up plainly flimsy in the region of parallel singularities. In this paper, a neighbourhood uniqueness theory that permits securely registering posture mistake upper limits utilizing nonlinear improvement is proposed. This speculation, together with a relating maximal permitted bother space and a certified rough posture mistake upper bound substantial over the entire workspace, will be demonstrated numerically utilizing a parametric variant of Kantorovich hypothesis and certified Nonlinear worldwide enhancement. At that point approximate linearization's are used in order to determine approximated tolerances reaching an endorsed maximal stance blunder over a given workspace. Those resistances are finally verified utilizing ideal posture mistake upper limits, which are registered utilizing worldwide improvement systems. Two illustrative cases are considered keeping in mind the end goal to feature the commitments of the paper.

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Volumetric error analysis and architecture optimization for accuracy of HexaSlide type parallel manipulators

Abstract: Abstract-This

Cited by 79 publications

References 17 publications

A Novel 4-DOF Parallel Manipulator H4

A Novel 4-DOF Parallel Manipulator H4

Optimal design of robots

Tolerance Analysis of RPRPR Parallel Manipulator

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