| contributor author | Jian Meng | |
| contributor author | Dongjun Zhang | |
| contributor author | Zexiang Li | |
| date accessioned | 2017-05-09T00:34:31Z | |
| date available | 2017-05-09T00:34:31Z | |
| date copyright | January, 2009 | |
| date issued | 2009 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27890#011013_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/141452 | |
| description abstract | Due to joint clearance, a parallel manipulator’s end-effector exhibits position and orientation (or collectively referred to as pose) errors of various degrees. This paper aims to provide a systematic study of the error analysis problem for a general parallel manipulator influenced by joint clearance. We propose an error prediction model that is applicable to planar or spatial parallel manipulators that are either overconstrained or nonoverconstrained. By formulating the problem as a standard convex optimization problem, the maximal pose error in a prescribed workspace can be efficiently computed. We present several numerical examples to show the applicability and the efficiency of the proposed method. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Accuracy Analysis of Parallel Manipulators With Joint Clearance | |
| type | Journal Paper | |
| journal volume | 131 | |
| journal issue | 1 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.3042150 | |
| journal fristpage | 11013 | |
| identifier eissn | 1528-9001 | |
| keywords | Clearances (Engineering) | |
| keywords | End effectors | |
| keywords | Errors AND Manipulators | |
| tree | Journal of Mechanical Design:;2009:;volume( 131 ):;issue: 001 | |
| contenttype | Fulltext | |
