Accuracy Analysis of 3-UPU Translational Parallel Robot Mechanism

被引：2
|
作者：
Sun, Shuhua [1 ]
机构：
[1] Zibo Vocat Inst, Dept Automot Engn, Zibo 255314, Shandong, Peoples R China
来源：
MANUFACTURING PROCESS AND EQUIPMENT, PTS 1-4 | 2013年 / 694-697卷
关键词：
parallel robot; pose errors; accuracy analysis; simulation;
D O I：
10.4028/www.scientific.net/AMR.694-697.1617
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
According to the inverse solutions of 3-UPU translational parallel robot mechanisms, in which both the base and the mobile platform are triangle and similar to each other, the accuracy model of parallel robot mechanisms is established by the differentiation of the kinematic. The effects of length error of driving poles, structure size change and posture change on the accuracy of robot are studied by simulations,which provided the foundation for practical error compensating and controlling of the mechanism.
引用
收藏
页码：1617 / 1620
页数：4
相关论文
共 50 条
  • [31] Prediction of the pose errors produced by joints clearance for a 3-UPU parallel robot
    Chebbi, A. -H.
    Affi, Z.
    Romdhane, L.
    MECHANISM AND MACHINE THEORY, 2009, 44 (09) : 1768 - 1783
  • [32] Workspace of Translation 3-UPU Parallel Manipulators
    罗友高
    郑相周
    宾鸿赞
    Journal of Shanghai University, 2005, (01) : 62 - 67
  • [33] Analysis of two kinds of forward position in 3-UPU parallel mechanism with pure spherical rotation
    Zheng, Xiangzhou
    Bin, Hongzan
    Luo, Yougao
    Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition), 2003, 31 (04):
  • [34] Dynamics Analysis of a Symmetrical 2R1T 3-UPU Parallel Mechanism
    Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao
    066004, China
    不详
    066004, China
    Jixie Gongcheng Xuebao, 21 (46-53):
  • [35] Structure Optimization Design of 3-UPU Parallel Mechanism Based on the Comprehensive Dexterity
    Wei, Yonggeng
    Fan, Yuchao
    Li, Qiang
    Wang, Zhongxian
    RECENT ADVANCES IN ELECTRICAL & ELECTRONIC ENGINEERING, 2015, 8 (01) : 26 - 32
  • [36] Kinematics and Statics of a 3-UPU Robot in Screw Coordinates
    Zhao, Jing-Shan
    Wei, Song-Tao
    Sun, Han-Lin
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2023, 15 (06):
  • [37] Kinematics and optimization of a spatial 3-UPU parallel manipulator
    Tsai, LW
    Joshi, S
    JOURNAL OF MECHANICAL DESIGN, 2000, 122 (04) : 439 - 446
  • [38] Geometric and Manufacturing Issues of the 3-UPU Pure Translational Manipulator
    Chebbi, A. H.
    Parenti-Castelli, V.
    NEW TRENDS IN MECHANISM SCIENCE: ANALYSIS AND DESIGN, 2010, 5 : 595 - 603
  • [39] Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism
    Chen Zhao
    Jingke Song
    Xuechan Chen
    Ziming Chen
    Huafeng Ding
    Chinese Journal of Mechanical Engineering, 2021, 34 (06) : 391 - 402
  • [40] Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism
    Zhao, Chen
    Song, Jingke
    Chen, Xuechan
    Chen, Ziming
    Ding, Huafeng
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2021, 34 (01)
12345