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Tolerance design of a 2-DOF overconstrained translational parallel robot
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UNSPECIFIED (2006) Tolerance design of a 2-DOF overconstrained translational parallel robot. IEEE TRANSACTIONS ON ROBOTICS, 22 (1). pp. 167-172. doi:10.1109/TRO.2005.861456 ISSN 1552-3098.
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Official URL: http://dx.doi.org/10.1109/TRO.2005.861456
Abstract
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 | ||||
| ISSN: | 1552-3098 | ||||
| Official Date: | February 2006 | ||||
| Dates: |
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| Volume: | 22 | ||||
| Number: | 1 | ||||
| Number of Pages: | 6 | ||||
| Page Range: | pp. 167-172 | ||||
| DOI: | 10.1109/TRO.2005.861456 | ||||
| Publication Status: | Published |
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