DocumentCode
2437645
Title
Error modelling and experimental validation for a planar 3-PPR parallel manipulator
Author
Wu, Guanglei ; Bai, Shaoping ; Kepler, Jørgen A.
Author_Institution
Dept. of Mech. & Manuf. Eng., Aalborg Univ., Aalborg, Denmark
fYear
2011
fDate
20-23 June 2011
Firstpage
259
Lastpage
264
Abstract
In this paper, the positioning error of a 3-PPR planar parallel manipulator is studied with an error model and experimental validation. First, the displacement and workspace are analyzed. An error model considering both configuration errors and joint clearance errors is established. Using this model, the maximum positioning error was estimated for a U-shape PPR planar manipulator, the results being compared with the experimental measurements. It is found that the error distributions from the simulation is approximate to that of the measurements.
Keywords
manipulators; U-shape PPR planar manipulator; configuration errors; error modelling; experimental validation; joint clearance errors; maximum positioning error; planar 3-PPR parallel manipulator; Actuators; Calibration; Joints; Kinematics; Manipulators; Mathematical model; Measurement uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics (ICAR), 2011 15th International Conference on
Conference_Location
Tallinn
Print_ISBN
978-1-4577-1158-9
Type
conf
DOI
10.1109/ICAR.2011.6088573
Filename
6088573
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