Motion Error Analysis for A 3-DOF Parallel Robot

Shi, Hao

doi:10.4028/www.scientific.net/amr.460.347

Cited by 4 publications

(5 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…So the movable platform can be restrained by the parallelogram mechanism to move translationally relative to the fixed platform. The end actuating mechanism, which can make the tool run in one direction and swing in another direction, is installed in the center of movable platform [4].…”

Section: The Structure Of Parallel Robotmentioning

confidence: 99%

“…When the Parallel Robot is in some special positions that are called singular positions, the Jacobian matrix is singular matrix and the value of its determinant is zero, then the speed inverse solution of Parallel Robot doesn't exist [4]. The actual DOF of robot is no longer equal to the theoretical DOF in the critical condition when the Parallel Robot is at the singular position, and there may have two kinds of situations at this time: First, the robot lost the proper DOF; second, the robot obtained the additional DOF.…”

Section: The Singularity Of Parallel Robotmentioning

confidence: 99%

See 1 more Smart Citation

The Analysis on the Singularity of a 3-TPT Parallel Robot

Guo

Zhao²,

Shi

2011

AMR

View full text Add to dashboard Cite

This paper took a 3-TPT Parallel Robot as the object to study its singularity within the workspace. Firstly the kinematics equation of Parallel Robot was established according to the kinematics analysis and the Jacobian matrix of parallel mechanism could be obtained at the same time. Then the workspace of Parallel Robot was carried on the solution and the analysis. Finally the degree of operability was taken as the measure index to analyze the singularity of Parallel Robot within the workspace, and the results showed that this Parallel Robot does not have singular position. The analysis results of this paper have laid the theoretical foundation for the position control and processing track planning of this Parallel Robot.

show abstract

Section: The Structure Of Parallel Robotmentioning

confidence: 99%

Section: The Singularity Of Parallel Robotmentioning

confidence: 99%

The Analysis on the Singularity of a 3-TPT Parallel Robot

Guo

Zhao²,

Shi

2011

AMR

View full text Add to dashboard Cite

show abstract

“…The task of the kinematics analysis conducted to PMT is to give the kinetic relationship between each components of PMT and to study the relationship and the law of variation for the displacement, velocity and acceleration between all components. It is the necessary condition for the overall design of PMT, and the basis of the dynamics analysis, precision analysis and other researches of PMT [2,4]. Here, the kinematics equations are established by analyzing the kinematics of PMT.…”

Section: The Kinematics Equation Of Parallel Machine Toolmentioning

confidence: 99%

The Error Modeling on a Kind of Parallel Machine Tool in Considering the Joint Gap

Guo

Chen

Shi

2010

AMR

View full text Add to dashboard Cite

This paper takes a kind of 3-UPS Parallel Machine Tool (PMT) as the objective of research. First, the kinematic analysis is carried out to the machine and the kinematics equation is obtained. Then, the mathematical model on tool posture error of this machine is established in considering the joint gap based on the kinematics equation. According to the mathematical model expression, the posture error of tool tip point can be calculated when the specific values to the length error of the driving rod and the position error of the joint point are known. The establishment of error model has important theoretical significance to the design as well as the error analysis and compensation of this Parallel Machine Tool.

show abstract

“…Based on this, a five-degree-of-freedom (5-DOF) hybrid processing robot is designed [5][6][7]. In the OMPR process, the motion error of each motion branch and the rotation axis [8,9] causes a contour error of the end execution point of the grinding system [10]. Moreover, if the theoretical trajectory deviates from the actual track, it will lead to an uncertainty of the dwell time, and the removal amount of the optical mirror will not meet the Gaussian distribution [11].…”

Section: Introductionmentioning

confidence: 99%

Feedforward combined multi-axis cross-coupling contour control compensation strategy of optical mirror processing robot

Jin

Meng

2022

Robotica

View full text Add to dashboard Cite

During the movement of an optical mirror processing robot (OMPR), the movement error of each branch chain leads to contour errors of the grinding tool, which reduce the accuracy of the optical mirror surface. To improve the processing accuracy of an OMPR, it is necessary to study the control and compensation strategy of its contour error. In this study, first, a kinematics analysis of an OMPR is conducted, and the trajectory of the end execution point in the world coordinate system is transformed into the fixed coordinate system of the robot. Combined with the common trajectory of optical mirror processing, based on the Frenet coordinate system, contour error models of the OMPR in straight line, arc, and spiral trajectories are established. Subsequently, the contour error, feedforward channel gain, and compensation channel gain models of the parallel module are established in the task space, and concurrently, the control variables and stability of the system are analyzed. Finally, the established feedforward combined multi-axis cross-coupling contour control compensation strategy is analyzed experimentally to verify its accuracy and effectiveness. It provides a theoretical basis for a robot to directly face the precision processing object using the control and compensation strategy in a future research study to improve the molding accuracy of a surface and optimize the processing technology of a large-scale optical mirror.

show abstract

Motion Error Analysis for A 3-DOF Parallel Robot

Cited by 4 publications

References 6 publications

The Analysis on the Singularity of a 3-TPT Parallel Robot

The Analysis on the Singularity of a 3-TPT Parallel Robot

The Error Modeling on a Kind of Parallel Machine Tool in Considering the Joint Gap

Feedforward combined multi-axis cross-coupling contour control compensation strategy of optical mirror processing robot

Contact Info

Product

Resources

About