Accuracy Analysis of 3-UPU Translational Parallel Robot Mechanism

Abstract:

According to the inverse solutions of 3-UPU translational parallel robot mechanisms, in which both the base and the mobile platform are triangle and similar to each other, the accuracy model of parallel robot mechanisms is established by the differentiation of the kinematic. The effects of length error of driving poles, structure size change and posture change on the accuracy of robot are studied by simulations,which provided the foundation for practical error compensating and controlling of the mechanism.

• Periodical: Advanced Materials Research (Volumes 694-697)
• Pages: 1617-1620
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.694-697.1617
• Online since: May 2013
• Authors: Shu Hua Sun
• Keywords: Accuracy Analysis, Parallel Robot, Pose Errors, Simulation

References

[1] Huang Zhen, Kong Lingfu,Fang Yuefa. Theory and Control of Parallel Robot Mechanism [M].Beijing: China Machine Press,1997.

[2] Huang Zhen. Spatial mechanisms[M]. Beijing: China Machine Press,1991.

[3] Tsai L W. Kinematics of A Three-DOF Platform with Three Extensible Limbs. 5th International Symposium on Recent Advances in Robot Kinematics, Bernardin - Portoroz, Slovenia,1996.401-410.

DOI: 10.1007/978-94-009-1718-7_40

[4] Tsai L W. The Enumeration of a Class of three-DOF Parallel Manipulators [A]. 10th World Congress on the Theory of Machine and Mechanisms. Oulu, Finland,1999.1121-1126.

[5] Liu Xudong, Huang Tian. Close Form Solution to the Workspace and Synthese of 3-UPU parallel manipulator[J]. .China Mechanical Engineering Vol.12,No.5.2001:151-154.