Research on Influence of Joint Clearance on Precision of 3-TPT Parallel Robot
<p>The error model of the working accuracy of parallel mechanism was established in this paper. The D-H matrix method and error independent method were used to analyze the clearance error of mechanism joint based on the inverse position kinematics solution. The theoretical model describing the...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2019-06-01
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| Series: | Mechanical Sciences |
| Online Access: | https://www.mech-sci.net/10/287/2019/ms-10-287-2019.pdf |
| Summary: | <p>The error model of the working accuracy of parallel
mechanism was established in this paper. The D-H matrix method and error
independent method were used to analyze the clearance error of mechanism
joint based on the inverse position kinematics solution. The theoretical
model describing the position error of the moving platform position error
affected by its joint clearance was developed when the moving platform was
parallel to fixed platform in the ideal state; the clearance error model of
3-TPT Parallel mechanism was established based on D-H matrix method and
error independent method while the joint clearance error source was given.
The effect of joint clearance error on the working accuracy of 3-TPT
parallel mechanism was analyzed by Monte Carlo method. The effect of posture
error due to revolution of the moving platform about coordinate axis on the
error of parallel mechanism was simulated and analyzed based on D-H matrix
method in the non-ideal state.</p> |
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| ISSN: | 2191-9151 2191-916X |