Kinematic reliability and sensitivity analysis of the modified Delta parallel mechanism

Xu, Dongtao

doi:10.1177/1729881418759106

Cited by 14 publications

(12 citation statements)

References 10 publications

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“…The uncertain parameters of the joint clearances are defined as fuzzy variables; thus:λ j = ∆β j,z ∆β j,xyγj ∆b j,xy ∆b j,z based on the definition of Eq. (12). Therefore, the error will also be a fuzzy uncertain variable.…”

Section: Fuzzy Kinematic Reliability Methodsmentioning

confidence: 99%

“…The kinematic reliability aims at estimating the probability of failure produced by the unavoidable effect of uncertainties; the effect of the clearances on the kinematic accuracy has taken the attention of researchers regarding the kinematic performance [7,8,24]. Moreover, the kinematic reliability has recently emerged as an alternative criterion to evaluate the effects of the uncertainties in manipulators [12]. Zhang and Han (2020) developed an efficient reliability analysis method to account for random dimensions and joint angles of robotic mechanisms.…”

Section: Literature Reviewmentioning

confidence: 99%

“…The time-dependent reliability to assess the time-dependency effect of the motion error [7]. The kinematic sensitivity [12] finds out the influence of each error source on the kinematic reliability.…”

Section: Introductionmentioning

confidence: 99%

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A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

Lara-Molina

Dumur

2021

Robotica

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SUMMARY This paper aims at developing a novel method to assess the kinematic reliability of robotic manipulators based on the fuzzy theory. The kinematic reliability quantifies the probability of obtaining positioning errors within acceptable limits. For this purpose, the fuzzy reliability evaluates the effect of the joint clearances on the end-effector position to compute a failure possibility index. As an alternative to the conventional methods reported in the literature, this failure possibility index conveys a novel assessment of the kinematic performance. The numerical results are compared with the well-known probabilistic approach based on the Monte Carlo simulation.

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Section: Fuzzy Kinematic Reliability Methodsmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

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A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

Lara-Molina

Dumur

2021

Robotica

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“…Aimed at the motion accuracy of robots, Xu established the error model and performed a kinematic reliability and sensitivity analysis of the modified Delta robot. However, the influence of the clearance error is not considered in the paper, and the error compensation method is not further proposed [8]. Bai et al deals with kinematic calibration of the Delta robot using distance measurements.…”

Section: Introductionmentioning

confidence: 99%

Research on the Motion Error Analysis and Compensation Strategy of the Delta Robot

Shang

Liu

et al. 2019

Mathematics

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The Delta robots are widely used in packaging, sorting, precision positioning, and other fields. Motion accuracy is an important indicator for evaluating robot performance. However, due to the existence of mechanism errors, the motion accuracy of the robot will be reduced. Therefore, how to reduce motion errors and improve accuracy are important issues for robots. The purpose of the present study is to analyze the motion error and propose an error compensation scheme to improve the motion accuracy of the robot. Firstly, the kinematic model of the robot is established by the D-H matrix transformation method. An error model considering dimension error, the error of revolute joint clearance, driving error, and the error of spherical joint clearance is established. Additionally, the influence of different errors on the motion accuracy is analyzed. Secondly, an error compensation strategy of controlling the driving angle is proposed. The analysis of error compensation is carried out by a numerical example. Comparing the results before and after compensation, it is known that the robot can move along the desired position, so the notion error of the robot is compensated, which proves that this method is effective for improving the motion accuracy of the robot.

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“…The actuators and joints are the key parts of the parallel mechanism, which could have more faults and the faults will greatly reduce the work ability of the parallel mechanical equipment or even cause the equipment to not work, so the fault-tolerant strategy is an effective method to improve the work reliability of mechanical equipment. 26–30 Zhang et al. 31 developed a novel fault-tolerant actuator unit and designed a fault-tolerant strategy; Yao et al.…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant strategy and workspace of the subreflector parallel adjusting mechanism

Yao

Han

Dou³

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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Parallel mechanism has been widely used in large-scale and heavy-duty attitude adjustment equipment. In order to improve the work reliability of the subreflector parallel adjusting mechanism, a fault-tolerant strategy based on the redundant degree-of-freedom and a workspace boundary identification method are proposed in this paper, which can realize the proper function of the subreflector parallel adjusting mechanism when it has a driven fault. The configuration and parameters of the parallel adjusting mechanism are introduced firstly, then the degrees-of-freedom of the parallel adjusting mechanism is calculated when it has a driven fault, and the principle of the fault-tolerant strategy based on the redundant degree-of-freedom is deduced in detail. Next, the method to solve the workspace boundary identification problem for the parallel adjusting mechanism in fault tolerance conditions is proposed, the maximum and minimum workspaces of the parallel adjusting mechanism at fault tolerance conditions in different frequency bands are analyzed. The results showed that the workspace calculated by the fault-tolerant strategy in the fault condition can completely meet the needs of the subreflector, where this method can also be applied to other parallel mechanisms. Lastly, an experiment is conducted to verify the correctness and effectiveness of the fault-tolerant strategy, in which the results showed that the fault-tolerant strategy can effectively improve the work reliability of the parallel adjusting mechanism. The fault-tolerant strategy and workspace boundary identification method can make the subreflector parallel adjusting mechanism work normally when it has a driven fault, which can significantly improve the work reliability and work efficiency and the maintenance cost can also be reduced. The fault-tolerant strategy and workspace boundary identification method can also be well applied to the research and development for this kind of parallel mechanical equipment.

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Kinematic reliability and sensitivity analysis of the modified Delta parallel mechanism

Cited by 14 publications

References 10 publications

A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

Research on the Motion Error Analysis and Compensation Strategy of the Delta Robot

Fault-tolerant strategy and workspace of the subreflector parallel adjusting mechanism

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