Title :
Accuracy Analysis of General Parallel Manipulators with Joint Clearance
Author :
Meng, Jian ; Zhang, Dongjun ; Zhang, Tinghua ; Wang, Hong ; Li, Zexiang
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon
Abstract :
Due to the joint clearance, parallel manipulators always exhibit some position and orientation errors at the mobile platform. This paper aims to provide a systematic framework for the error analysis problem of general parallel mechanisms influenced by the joint clearance. A novel and efficient method is proposed to evaluate the maximal pose errors of general spatial parallel manipulators with joint clearance.
Keywords :
fault diagnosis; manipulators; position control; accuracy analysis; joint clearance; orientation error; parallel manipulators; position error; Assembly; Calibration; Error analysis; Manipulators; Manufacturing; Mechatronics; Predictive models; Robotics and automation; Shafts;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363098
