Sensitivity analysis of the 3-PRS parallel kinematic spindle platform of a serial-parallel machine tool

Fan, Kuang‐Chao; Hai, Wang; Jun-wei, Zhao; Chang, Tsan-Hwei

doi:10.1016/s0890-6955(03)00202-5

Cited by 99 publications

(66 citation statements)

References 11 publications

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“…Therefore, to quantitatively evaluate the level of kinematic accuracy under various configurations, three types of error sensitively indexes that reflect the mapping relationship between the input and output error from three different aspects are introduced [14][15]. If the input error is set as a unit sphere, the volume of the unit sphere is mapped into an ellipsoid via the error transformation matrix.…”

Section: Establishment Of the Error And Reliability Evaluation Indexesmentioning

confidence: 99%

Analysis of the Kinematic Accuracy Reliability of a 3-DOF Parallel Robot Manipulator

Cui

Zhang

et al. 2015

International Journal of Advanced Robotic Systems

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Kinematic accuracy reliability is an important performance index in the evaluation of mechanism quality. By using a 3-DOF 3-PUU parallel robot manipulator as the research object, the position and orientation error model was derived by mapping the relation between the input and output of the mechanism. Three error sensitivity indexes that evaluate the kinematic accuracy of the parallel robot manipulator were obtained by adapting the singular value decomposition of the error translation matrix. Considering the influence of controllable and uncontrollable factors on the kinematic accuracy, the mathematical model of reliability based on random probability was employed. The measurement and calculation method for the evaluation of the mechanism's kinematic reliability level was also provided. By analysing the mechanism's errors and reliability, the law of surface error sensitivity for the location and structure parameters was obtained. The kinematic reliability of the parallel robot manipulator was statistically computed on the basis of the Monte Carlo simulation method. The reliability analysis of kinematic accuracy provides a theoretical basis for design optimization and error compensation.

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Section: Establishment Of the Error And Reliability Evaluation Indexesmentioning

confidence: 99%

Analysis of the Kinematic Accuracy Reliability of a 3-DOF Parallel Robot Manipulator

Cui

Zhang

et al. 2015

International Journal of Advanced Robotic Systems

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“…Han et al [4] utilized a kinematic affectability examination strategy to clarify the gross movements of a 3-UPU parallel system, and demonstrated that it is exceptionally touchy to certain moment clearances. Fan et al [5] broke down the affectability of the 3PRS parallel kinematic shaft stage of a serial-parallel machine instrument. Verner et al [6] introduced another technique for ideal alignment of PKM in light of the abuse of the minimum blunder touchy districts in their workspace and geometric parameters space.…”

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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“…Each leg has a slider attached to the base by an actuated prismatic joint (P), a coupler connected to the slider by a passive rotational joint (R) and to the platform by a passive spherical joint (S). The 3-PRS manipulator was first described in Carretero et al (2000b) for a telescope application, and then it was proposed as a machining centre in Fan et al (2003) and for a medical application in Merlet (2001). The kinematics and workspace analyses of the manipulator have been extensively studied in Carretero et al (2000a), Carretero et al (2000b), Tsai et al (2002), Li and Xu (2007), to name a few.…”

Section: Introductionmentioning

confidence: 99%

Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs

2016

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Abstract. Introduction of parallel manipulator systems for different applications areas has influenced many researchers to develop techniques for obtaining accurate and computational efficient inverse dynamic models. Some subject areas make use of these models, such as, optimal design, parameter identification, model based control and even actuation redundancy approaches. In this context, by revisiting some of the current computationally-efficient solutions for obtaining the inverse dynamic model of parallel manipulators, this paper compares three different methods for inverse dynamic modelling of a general, lower mobility, 3-PRS parallel manipulator. The first method obtains the inverse dynamic model by describing the manipulator as three open kinematic chains. Then, vector-loop closure constraints are introduced for obtaining the relationship between the dynamics of the open kinematic chains (such as a serial robot) and the closed chains (such as a parallel robot). The second method exploits certain characteristics of parallel manipulators such that the platform and the links are considered as independent subsystems. The proposed third method is similar to the second method but it uses a different Jacobian matrix formulation in order to reduce computational complexity. Analysis of these numerical formulations will provide fundamental software support for efficient model-based designs. In addition, computational cost reduction presented in this paper can also be an effective guideline for optimal design of this type of manipulator and for real-time embedded control.

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Sensitivity analysis of the 3-PRS parallel kinematic spindle platform of a serial-parallel machine tool

Cited by 99 publications

References 11 publications

Analysis of the Kinematic Accuracy Reliability of a 3-DOF Parallel Robot Manipulator

Analysis of the Kinematic Accuracy Reliability of a 3-DOF Parallel Robot Manipulator

Tolerance Analysis of RPRPR Parallel Manipulator

Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs

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