DocumentCode
2621893
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
fYear
2007
fDate
10-14 April 2007
Firstpage
889
Lastpage
894
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.363098
Filename
4209202
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