Paper Title:
Actual Motion of 3-DOF Parallel Robot
  Abstract

The Lower DOF parallel robot rely on strictly geometrical constraints of axis of pairs in and between limbs to obtain the reduced number of DOF .In practice ,these constraints will never been perfectly fulfilled due to the inevitability of errors, and hence produce series bad effects and problems. Using screw theory and set theory as mathematical tools, the DOF and constraint system of 3-CRR parallel robot, were systematically summarized and in-depth studied. Kinematics design of a limited DOF parallel robot, a 3-CRR pure translational parallel robot, is presented that takes into account the error. The errors presented in the paper consist of two kinds. The errors is defined as the position error of rotation center of the platform caused by errors in the kinematics constants, such as axis error The above research results provided an insight into the error of 3CRR parallel robot.

  Info
Periodical
Advanced Materials Research (Volumes 383-390)
Chapter
Chapter 20: Metrology and Measurement
Edited by
Wu Fan
Pages
5059-5065
DOI
10.4028/www.scientific.net/AMR.383-390.5059
Citation
D. X. Tian, S. K. Han, "Actual Motion of 3-DOF Parallel Robot", Advanced Materials Research, Vols. 383-390, pp. 5059-5065, 2012
Online since
November 2011
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Price
$32.00
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