Title :
Accuracy analysis of a modified Stewart platform manipulator
Author :
Ropponen, Timo ; Arai, Tatsuo
Author_Institution :
Mech. Eng. Lab., MITI, Tsukuba, Japan
Abstract :
Relation between the joint displacement errors of Stewart platform manipulators and the end effector accuracy is presented. The position errors of the joints and the actuation errors and backlash are included to the kinematic model. A closed-form forward kinematics solution of the end effector error is derived from the inverse kinematics solution. The method is applied to a modified Stewart platform manipulator, and end effector error ellipsoids are computed. The analysis shows that the method can be used in evaluating the accuracy of prismatic parallel manipulators
Keywords :
manipulator kinematics; accuracy analysis; actuation errors; backlash; closed-form forward kinematics solution; end effector error ellipsoids; inverse kinematics solution; joint displacement errors; joint position errors; modified Stewart platform manipulator; prismatic parallel manipulators; Closed-form solution; Ellipsoids; End effectors; Error correction; Inverse problems; Kinematics; Leg; Machinery; Manipulators; Mechanical engineering;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525336