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Tolerance design and kinematic calibration of a 4-DOF pick-and-place parallel robot
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Huang, Tian, Bai, Pujan, Mei, Jiangping and Chetwynd, D. G. (2016) Tolerance design and kinematic calibration of a 4-DOF pick-and-place parallel robot. Journal of Mechanisms and Robotics, 8 (6). 061018. doi:10.1115/1.4034788 ISSN 1942-4302 .
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Official URL: http://dx.doi.org/10.1115/1.4034788
Abstract
This paper presents a comprehensive methodology for ensuring the geometric pose accuracy of a 4-DOF high-speed pick-and-place parallel robot having an articulated travelling plate. The process is implemented by four steps: (1) formulation of the error model containing all possible geometric source errors; (2) tolerance design of the source errors affecting the uncompensatable pose accuracy via sensitivity analysis; (3) identification of the source errors affecting the compensatable pose accuracy via a simplified model and distance measurements; and (4) development of a linearized error compensator for real-time implementation. Experimental results show that a tilt angular accuracy of 0.1/100, and a volumetric/rotational accuracy of 0.5 mm/±0.8
deg of the end-effector can be achieved over the cylindrical task workspace
| Item Type: | Journal Article | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Subjects: | T Technology > TJ Mechanical engineering and machinery | ||||||||||
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||||||
| Library of Congress Subject Headings (LCSH): | Robots -- Control systems | ||||||||||
| Journal or Publication Title: | Journal of Mechanisms and Robotics | ||||||||||
| Publisher: | The American Society of Mechanical Engineers | ||||||||||
| ISSN: | 1942-4302 | ||||||||||
| Official Date: | 11 October 2016 | ||||||||||
| Dates: |
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| Volume: | 8 | ||||||||||
| Number: | 6 | ||||||||||
| Article Number: | 061018 | ||||||||||
| DOI: | 10.1115/1.4034788 | ||||||||||
| Status: | Peer Reviewed | ||||||||||
| Publication Status: | Published | ||||||||||
| Access rights to Published version: | Restricted or Subscription Access | ||||||||||
| Description: | Paper No: JMR-16-1092 |
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| Date of first compliant deposit: | 14 September 2016 | ||||||||||
| Date of first compliant Open Access: | 22 September 2017 | ||||||||||
| Funder: | Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC) | ||||||||||
| Grant number: | 51135008 |
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