Assembly conditions of parallel manipulators considering geometric errors, joint clearances, link flexibility and joint elasticity

Corradi, Davide; Caro, Stéphane; Chablat, Damien; Cardou, Philippe

doi:10.1109/icra.2014.6907450

Cited by 6 publications

(3 citation statements)

References 11 publications

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“…Due to clearance and installation errors in the revolute joints, there are errors between the theoretical and actual dimensions and parameters [31]. As seen in Fig.…”

Section: Error Modeling and Analysismentioning

confidence: 99%

A Novel Precision Measuring Parallel Mechanism for the Closed-Loop Control of a Biologically Inspired Lower Limb Exoskeleton

Zhou

Chen

Wang

et al. 2018

IEEE/ASME Trans. Mechatron.

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The knee joint of the human body involves both rotation and translation, while the magnitude of anterior-posterior translation during flexion/extension movement of the knee joint is very small compared with the length of the human lower limb. It is therefore desirable for an exoskeleton leg to have two degrees of freedom to accommodate the motion of the human knee joint, and for there to be a precision measuring method to obtain its trajectory. This paper presents a novel parallel mechanism which can be used as a precise measuring device to realize closed-loop control for a biologically inspired 3-degree of freedom (DOF) lower limb exoskeleton (BLLE-3) for human gait rehabilitation. In this work, mechanical design and kinematics of the exoskeleton are described. Errors of exoskeleton motion are modelled and analyzed. Closed-loop control law is implemented to enable accurate trajectory following the motions of the exoskeleton. Simulations and experimental results are included to show the effectiveness of the new measuring and control method.

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“…Due to clearance and installation errors in the revolute joints, there are errors between the theoretical and actual dimensions and parameters [31]. As seen in Fig.…”

Section: Error Modeling and Analysismentioning

confidence: 99%

A Novel Precision Measuring Parallel Mechanism for the Closed-Loop Control of a Biologically Inspired Lower Limb Exoskeleton

Zhou

Chen

Wang

et al. 2018

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

show abstract

“…The kinematic sensitivity of a robotic system with joint clearances was studied and tested for the effectiveness of the proposed model [15]. A methodology to analyse the assembly conditions and compute the maximum pose errors of parallel manipulators was presented by considering geometric errors, joint clearances, link flexibility, and joint elasticity [1]. A space robot manipulator system was considered to analyse the joint clearance effects.…”

Section: • Clearance In a Joint Is Inevitable And Worsens The System mentioning

confidence: 99%

“…These are key features for robots. Some error sources in robots originate from assemblage, servo actuator resolution, reducer backlash, and joint clearances [1]. These errors reduce the accuracy of the robot and must be controlled to ensure the quality of the desired movement.…”

Section: Introductionmentioning

confidence: 99%

Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators

2018

SV-JME

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Accuracy is one of the key features that improves the quality of robotic manipulators for many industrial and medical applications. Even with an accurate design and manufacturing process, clearance problems in joints cannot be eliminated in articulated systems. This leads to a loss of accuracy in robotic manipulation. In this study, the effects of joint clearance in a robotic system are investigated. The need for the trajectory of end effector is considered to analyse the motion sensitivity. The kinematics and dynamics of a six-DOF robot with joint clearance are evaluated relative to a robot without joint clearance. Different scenarios for clearance values and working periods are performed to fulfil the required motion task. A neural model is also used to predict the trajectory deviations during the working process. The results show that clearance has a significant role in the motion sensitivity of robotic manipulations. Trajectory errors can also be determined by using a dynamic neural predictor with suitable input variables.

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Concept Design of Novel 2-DOF Parallel Robots with Spatial Kinematic Chains Based on a Heuristic Strategy

Meng

Xie

Liu

2019

2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)

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Assembly conditions of parallel manipulators considering geometric errors, joint clearances, link flexibility and joint elasticity

Cited by 6 publications

References 11 publications

A Novel Precision Measuring Parallel Mechanism for the Closed-Loop Control of a Biologically Inspired Lower Limb Exoskeleton

A Novel Precision Measuring Parallel Mechanism for the Closed-Loop Control of a Biologically Inspired Lower Limb Exoskeleton

Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators

Concept Design of Novel 2-DOF Parallel Robots with Spatial Kinematic Chains Based on a Heuristic Strategy

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