Accuracy analysis of general parallel manipulators with joint clearance

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 889-894

  Meng, Jian ^a   Zhang, Dongjun ^a   Zhang, Tinghua ^b   Wang, Hong ^b   Li, Zexiang ^a  

^a HONG KONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Hong Kong)

^b HARBIN INSTITUTE OF TECHNOLOGY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

ERROR ANALYSIS; PROBLEM SOLVING;

JOINT CLEARANCE; MAXIMAL POSE ERRORS; ORIENTATION ERRORS; PARALLEL MANIPULATORS;

MANIPULATORS;

EID: 36348987741     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363098     Document Type: Conference Paper

References (10)

1. K.L. Ting, J. Zhu, and D. Watkins. The effects of joint clearance on position and orientation deviation of linkages and manipulators. Mechanism and Machine Theory, 35:391-401, 2000.
2. M.Mayourian and J.Rastegar. Stochastic modeling of the mechanical behavior of mechanisms in the presence of joint clearances. In Proceedings of 1990 ASME Mechanisms Conference, pages 177-182, 1990.
3. S. Venanzi. Methods for Clearance Influence Analysis in Planar and Spatial Mechanisms. PhD thesis, University of Bologna, Bologna, Italy, 2004.
4. P. Voglewede and I.E. Uphoff. Application of workspace generation techniques to determine the unconstrained motion of parallel manipulators. ASME Journal of Mechanical Design, 126:283-290, 2004.
5. R. Murray, Z.X. Li, and S. Sastry. A Mathematical Introduction to Robotic Manipulation. CRC Press, 1994.
6. C.H. Han, J.W. Kim, J.W. Kim, and E.C. Park. Kinematic sensitivity analysis of the 3-UPU parallel mechanism, Mechanism and Machine Theory, 37:787-798, 2002.
7. H.H.S. Wang and B. Roth. Position errors due to clearance in journal bearing. ASME Journal of mechanisms, Transmissions, and Automation in Design, 111:315-320, 1989.
8. L.W. Tsai. Kinematics of a three-DOF platform with, three extensible limbs, in. Recent Advances in Robot Kinematics: Analysis and Control (Lenaric J., Husty M.L. Eds.), Kluwer, pages 49-58, 1996.
9. S. Boyd and L. Vandenberghe. Convex Optimization. Cambridge University Press, 1st edition, 2001.
10. D.Chablat and P. Wenger. Architecture optimization of a 3-dof translational parallel mechanism for machining applications, the orthoglide. IEEE Transaction on Robotics and Automation, 19(3):403-410, 2003.