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contributor authorHaitao Liu
contributor authorDerek G. Chetwynd
contributor authorTian Huang
date accessioned2017-05-09T00:46:04Z
date available2017-05-09T00:46:04Z
date copyrightMay, 2011
date issued2011
identifier issn1942-4302
identifier otherJMROA6-28011#021013_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/147164
description abstractThis paper presents a general and systematic approach for geometric error modeling of lower mobility manipulators. The approach can be implemented in three steps: (1) development of a linear map between the pose error twist and source errors within an individual limb using the homogeneous transformation matrix method; (2) formulation of a linear map between the pose error twist and the joint error intensities of a lower mobility parallel manipulator; and (3) combination of these two models. The merit of this approach lies in that it enables the source errors affecting the compensatable and uncompensatable pose accuracy of the platform to be explicitly separated, thereby providing designers and/or field engineers with an informative guideline for the accuracy improvement achievable by suitable measures, i.e., component tolerancing in design, manufacturing and assembly processes, and kinematic calibration. Three typical and well-known parallel manipulators are taken as examples to illustrate the generality and effectiveness of this approach.
publisherThe American Society of Mechanical Engineers (ASME)
titleA General Approach for Geometric Error Modeling of Lower Mobility Parallel Manipulators
typeJournal Paper
journal volume3
journal issue2
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4003845
journal fristpage21013
identifier eissn1942-4310
keywordsErrors
keywordsManipulators AND Modeling
treeJournal of Mechanisms and Robotics:;2011:;volume( 003 ):;issue: 002
contenttypeFulltext


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