Effects of constraint errors on parallel manipulators with decoupled motion

Jin, Yan; Chen, I‐Ming

doi:10.1016/j.mechmachtheory.2006.03.012

Cited by 31 publications

(7 citation statements)

References 12 publications

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“…The error propagation in the structure of the Exechon robot is currently being studied in a research carried out in conjunction between King's College London and Queen's University Belfast. As part of this research this paper aims to kinematically analyze for the first time the Exechon robot considering the geometric imperfection [20] of the joint axes connecting the legs to the fixed platform. The equations applied to solve both the inverse and the forward kinematics of the ideal Exechon robot will no longer hold when accounting these offsets.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and Constraints of the Exechon Robot Accounting Offsets Due to Errors in the Base Joint Axes

López-Custodio

Dai

et al. 2020

Journal of Mechanisms and Robotics

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An Exechon robot with offsets between the axes of the joints that connect the legs to the fixed platform is analyzed for the first time. Ideally these axes intersect constituting two universal and one spherical joints. The introduction of imperfections in these universal and spherical joints leads to more complex forward and inverse kinematics, which are solved in this paper. It is proved that the equations used for the kinematics of the ideal Exechon robot are no longer applicable when these offsets are added. The constraint system is also obtained, and it is found to be different to the one of the ideal case. Finally, the combination of offsets that lead to the largest deviation in the position of the parallel platform is determined.

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Section: Introductionmentioning

confidence: 99%

Kinematics and Constraints of the Exechon Robot Accounting Offsets Due to Errors in the Base Joint Axes

López-Custodio

Dai

et al. 2020

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

show abstract

“…The study is made using the Exechon XMini, which is the model shown in figure 1. As part of this research this paper aims to kinematically analyze for the first time the Exechon robot considering the geometric imperfection [20] of the joint axes connecting the legs to the fixed platform. The equations applied to solve both the inverse and the forward kinematics of the ideal Exechon robot will no longer apply when considering these offsets.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis of the Exechon Robot Accounting Offsets in the Joint Axes

López-Custodio

Dai

et al. 2019

Volume 5A: 43rd Mechanisms and Robotics Conference

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An Exechon robot with offsets between the axes of the joints that connect the legs to the fixed platform is analyzed for the first time. Ideally these axes intersect constituting two universal and one spherical joint. The insertion of imperfections in these universal and spherical joints leads to more complex forward and inverse kinematics which are solved in this paper. It is proved that the equations used for the kinematics of the ideal Exechon robot are no longer applicable when these offsets are added. The constraint system is also obtained and it is found to be different to the one of the ideal case. Finally, the combination of offsets that lead to the largest deviation in the position of the parallel platform is determined.

show abstract

“…It is well recognized that the zero-offset calibration, one of the kinematic calibrations, is a practical and economical way to reduce zero offsets, [11] and [12]. The zero-offset calibration pays more attention to the calibration of the zero offsets than the geometric errors.…”

Section: Introductionmentioning

confidence: 99%