Clearance and manufacturing errors' effects on the accuracy of the 3-RCC Spherical Parallel Manipulator

European Journal of Mechanics, A/Solids

Volumn 37, Issue , 2013, Pages 86-95

  Chaker, A ^a,b   Mlika, A ^a   Laribi, M A ^b   Romdhane, L ^a   Zeghloul, S ^b  

^a UNIVERSITY OF SOUSSE   (Tunisia)

^b UNIVERSITÉ DE POITIERS   (France)

Author keywords

Clearance; Manufacturing errors; Pose accuracy; Spherical Parallel Manipulators

Indexed keywords

EID: 84862223306     PISSN: 09977538     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.euromechsol.2012.05.009     Document Type: Article

References (18)

1. K. Al-Widyan, X.Q. Ma, and J. Angeles The robust design of parallel spherical robots Mechanism and Machine Theory 46 3 Mar. 2011 335 343
2. B. Anselmetti, and H. Louati Generation of manufacturing tolerancing with ISO standards International Journal of Machine Tools and Manufacture 45 10 Aug. 2005 1124 1131
3. Ballot, E., Bourdet, P., 1997. A computation method for the consequences of geometric errors in mechanisms. In: Proceedings of the 5th CIRP Computer Aided Tolerancing Seminar, pp. 137-148.
4. N. Binaud, S. Caro, and P. Wenger Sensitivity comparison of planar parallel manipulators Mechanism and Machine Theory 45 11 2010 1477 1490
5. N. Binaud, S. Caro, and P. Wenger Comparison of 3-RPR planar parallel manipulators with regard to their kinetostatic performance and sensitivity to geometric uncertainties Meccanica 46 1 2011 75 88
6. S. Briot, and A. Bonev A pair of measures of rotational error for axisymmetric robot end-effectors J. Lenarcic, P. Wenger, Advances in Robot Kinematics: Analysis and Design 2008 Springer Science 345 352
7. Chaker, A., Laribi, M.A., Romdhane, L., Zeghloul, S., 2011. Synthesis of spherical manipulator for dexterous medical task. 2nd IFToMM International Symposium on Robotics and Mechatronics, ISRM 2011 November 3-5, Shangai, China.
8. A. Chebbi, Z. Affi, and L. Romdhane Prediction of the pose errors produced by joints clearance for a 3-UPU parallel robot Mechanism and Machine Theory 44 9 2009 1768 1783
9. P. Flores, and J. Ambrsio Revolute joints with clearance in multibody systems Computers & Structures 82 Jul. 2004 1359 1369
10. P. Flores, J. Ambrsio, J. Claro, H. Lankarani, and C. Koshy A study on dynamics of mechanical systems including joints with clearance and lubrication Mechanism and Machine Theory 41 3 Mar. 2006 247 261
11. A. Frisoli, M. Solazzi, D. Pellegrinetti, and M. Bergamasco A new screw theory method for the estimation of position accuracy in spatial parallel manipulators with revolute joint clearances Mechanism and Machine Theory 46 12 Dec. 2011 1929 1949
12. C. Gosselin, E. St. Pierre, and M. Gagne On the development of the agile eye Robotics Automation Magazine, IEEE 3 4 Dec. 1996 29 37
13. Norm ISO 286-1:2010, Mar. 2012. (Intenational Organization of Standardization). Retrieved from: http://www.iso.org/iso/iso-catalogue/ catalogue-tc/catalogue-detail.htm?csnumber=45975.
14. M. Tsai, and T. Lai Kinematic sensitivity analysis of linkage with joint clearance based on transmission quality Mechanism and Machine Theory 39 11 2004 1189 1206
15. M. Tsai, and T. Lai Accuracy analysis of a multi-loop linkage with joint clearances Mechanism and Machine Theory 43 2008 1141 1157
16. S. Venanzi, and V. Parenti-Castelli A new technique for clearance influence analysis in spatial mechanisms Journal of Mechanical Design 127 3 2005 446 455
17. W. Wu, and S.S. Rao Interval approach for the modeling of tolerances and clearances in mechanism analysis Journal of Mechanical Design 126 4 2004 581 592
18. A. Yu, I.A. Bonev, and P. Zsombor-Murray Geometric approach to the accuracy analysis of a class of 3-DOF planar parallel robots Mechanism and Machine Theory 43 3 2008 364 375