Tolerance design of a 2-DOF overconstrained translational parallel robot
UNSPECIFIED. (2006) Tolerance design of a 2-DOF overconstrained translational parallel robot. IEEE TRANSACTIONS ON ROBOTICS, 22 (1). pp. 167-172. ISSN 1552-3098Full text not available from this repository.
Official URL: http://dx.doi.org/10.1109/TRO.2005.861456
This paper deals with the tolerance design of a two-degree-of-freedom translational parallel robot module for high-speed pick-and-place operations. The module is an overconstrained parallel mechanism using two sets of parallelograms in each limb. A probabilistic model of the uncompensatable pose error is formulated, together with a compatibility condition to ensure the mobility of the robot. Based upon this model, optimization of the tolerances of the geometric source errors and joint clearances is conducted, subject to a set of appropriate constraints. Simulation and experimental results are given to demonstrate the effectiveness of this approach.
|Item Type:||Journal Article|
|Subjects:||T Technology > TJ Mechanical engineering and machinery|
|Journal or Publication Title:||IEEE TRANSACTIONS ON ROBOTICS|
|Publisher:||IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC|
|Number of Pages:||6|
|Page Range:||pp. 167-172|
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