Effect Study on Deformation of Links to Error of Parallel Manipulator
Aimed at the effect problem of deformation of links on position error of parallel manipulator, the 3-TPT parallel manipulator is taken as a study object. The deformation error of links of parallel manipulator was built by error independent principle based on kinematics; the simulation analysis also is carried out by virtual prototype technique, and the effect laws of deformation of links to error of parallel manipulator are given. The results showed that when the deformation length of links is given, the position error can be affected by deformation of each link and the coordinate position of origin in reference frame; At the beginning of parallel manipulator moving, the deformation of links are small, and with the time increasing, the deformation of links obviously affect the final position error of parallel manipulator. The two method proposed in this paper can be used for pre-estimating the error and reducing harmful effects.
Zhengyi Jiang and Chunliang Zhang
C. X. Zhu et al., "Effect Study on Deformation of Links to Error of Parallel Manipulator", Advanced Materials Research, Vols. 97-101, pp. 3737-3740, 2010