Error Analysis on Cartesian Serial-Parallel Manipulator with Redundant Drive

Jian Guo Luo; Mao Yan He

doi:10.4028/www.scientific.net/AMM.602-605.903

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 602-605Error Analysis on Cartesian Serial-Parallel...

Error Analysis on Cartesian Serial-Parallel Manipulator with Redundant Drive

Abstract:

The serial-parallel robot can be resolved into the serial combination of two parallel robots. Each branch chain of the parallel robot is all a serial branch chain. By utilizing the kinematics equivalency and considering the influences on posture errors of the final moving platform affected by end errors of each branch, the synthetic analytical method based on dynamic and static factors was put forward. The main affection factor was presented and effectiveness verification has been carried out on the conclusion of study by the form of a living example.

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Periodical:

Applied Mechanics and Materials (Volumes 602-605)

Pages:

903-907

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.602-605.903

Citation:

Cite this paper

Online since:

August 2014

Authors:

Jian Guo Luo*, Mao Yan He

Keywords:

Error, Influence Factor, Parallel, Redundant Actuation, Serial

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* - Corresponding Author

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