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A general approach for geometric error modeling of lower mobility parallel manipulators
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Liu, Haitao, Huang, Tian and Chetwynd, D. G. (2011) A general approach for geometric error modeling of lower mobility parallel manipulators. Journal of Mechanisms and Robotics, Volume 3 (Number 2). 021013. doi:10.1115/1.4003845 ISSN 19424302.
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Official URL: http://dx.doi.org/10.1115/1.4003845
Abstract
This paper presents a general and systematic approach for geometric error modeling of lower mobility manipulators. The approach can be implemented in three steps: (1) development of a linear map between the pose error twist and source errors within an individual limb using the homogeneous transformation matrix method; (2) formulation of a linear map between the pose error twist and the joint error intensities of a lower mobility parallel manipulator; and (3) combination of these two models. The merit of this approach lies in that it enables the source errors affecting the compensatable and uncompensatable pose accuracy of the platform to be explicitly separated, thereby providing designers and/or field engineers with an informative guideline for the accuracy improvement achievable by suitable measures, i.e., component tolerancing in design, manufacturing and assembly processes, and kinematic calibration. Three typical and well-known parallel manipulators are taken as examples to illustrate the generality and effectiveness of this approach. [DOI: 10.1115/1.4003845]
| Item Type: | Journal Article | ||||
|---|---|---|---|---|---|
| Subjects: | Q Science > QA Mathematics T Technology > TJ Mechanical engineering and machinery |
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| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||
| Library of Congress Subject Headings (LCSH): | Manipulators (Mechanism), Machinery, Kinematics of, Calibration, Error analysis (Mathematics) | ||||
| Journal or Publication Title: | Journal of Mechanisms and Robotics | ||||
| Publisher: | A S M E International | ||||
| ISSN: | 19424302 | ||||
| Official Date: | May 2011 | ||||
| Dates: |
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| Volume: | Volume 3 | ||||
| Number: | Number 2 | ||||
| Page Range: | 021013 | ||||
| DOI: | 10.1115/1.4003845 | ||||
| Status: | Peer Reviewed | ||||
| Publication Status: | Published | ||||
| Access rights to Published version: | Restricted or Subscription Access | ||||
| Funder: | Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC), National NC Key Program | ||||
| Grant number: | 50535010 (NSFC), 50775158 (NSFC), 2009ZXO4014-021 (NNCKP) |
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