ANALYSIS AND MODELING OF TERMINAL POSITION ERROR OF PARALLEL MANIPULATOR BASED ON MDH METHOD
In this paper, a typical component in parallel manipulator--the parallelogram mechanism, is studied and the terminal position error that results from the change in length of each connecting rod is analyzed. Taking a two-degree-of-freedom manipulator as the research object, the Modified D-H method is...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Strength
2022-01-01
|
| Series: | Jixie qiangdu |
| Subjects: | |
| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2022.04.025 |
| _version_ | 1826871992254464000 |
|---|---|
| author | ZHANG YunFan CHEN JinJie HAO XinLong |
| author_facet | ZHANG YunFan CHEN JinJie HAO XinLong |
| author_sort | ZHANG YunFan |
| collection | DOAJ |
| description | In this paper, a typical component in parallel manipulator--the parallelogram mechanism, is studied and the terminal position error that results from the change in length of each connecting rod is analyzed. Taking a two-degree-of-freedom manipulator as the research object, the Modified D-H method is used to solve the forward kinematics, and the prediction model of terminal position in consideration of the inaccuracy by parallelogram mechanism is established. The corresponding simulation experiment of error distribution is carried out by using the Monte-Carlo method in Matlab, and the distribution characteristics of the manipulator’s terminal position error under different machining tolerance are obtained, then the accuracy of the prediction model is verified by the prototype experiment. The research shows that the joint angles of parallel manipulators calculated using this method are more accurate, which improves the accuracy of terminal position modeling. |
| first_indexed | 2024-03-12T20:48:04Z |
| format | Article |
| id | doaj.art-639e49c077504e23b954a406c759854f |
| institution | Directory Open Access Journal |
| issn | 1001-9669 |
| language | zho |
| last_indexed | 2025-02-16T23:49:05Z |
| publishDate | 2022-01-01 |
| publisher | Editorial Office of Journal of Mechanical Strength |
| record_format | Article |
| series | Jixie qiangdu |
| spelling | doaj.art-639e49c077504e23b954a406c759854f2025-01-15T02:23:59ZzhoEditorial Office of Journal of Mechanical StrengthJixie qiangdu1001-96692022-01-014494595229913819ANALYSIS AND MODELING OF TERMINAL POSITION ERROR OF PARALLEL MANIPULATOR BASED ON MDH METHODZHANG YunFanCHEN JinJieHAO XinLongIn this paper, a typical component in parallel manipulator--the parallelogram mechanism, is studied and the terminal position error that results from the change in length of each connecting rod is analyzed. Taking a two-degree-of-freedom manipulator as the research object, the Modified D-H method is used to solve the forward kinematics, and the prediction model of terminal position in consideration of the inaccuracy by parallelogram mechanism is established. The corresponding simulation experiment of error distribution is carried out by using the Monte-Carlo method in Matlab, and the distribution characteristics of the manipulator’s terminal position error under different machining tolerance are obtained, then the accuracy of the prediction model is verified by the prototype experiment. The research shows that the joint angles of parallel manipulators calculated using this method are more accurate, which improves the accuracy of terminal position modeling.http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2022.04.025Parallel manipulatorParallelogram mechanismPosition errorModified D-H method |
| spellingShingle | ZHANG YunFan CHEN JinJie HAO XinLong ANALYSIS AND MODELING OF TERMINAL POSITION ERROR OF PARALLEL MANIPULATOR BASED ON MDH METHOD Jixie qiangdu Parallel manipulator Parallelogram mechanism Position error Modified D-H method |
| title | ANALYSIS AND MODELING OF TERMINAL POSITION ERROR OF PARALLEL MANIPULATOR BASED ON MDH METHOD |
| title_full | ANALYSIS AND MODELING OF TERMINAL POSITION ERROR OF PARALLEL MANIPULATOR BASED ON MDH METHOD |
| title_fullStr | ANALYSIS AND MODELING OF TERMINAL POSITION ERROR OF PARALLEL MANIPULATOR BASED ON MDH METHOD |
| title_full_unstemmed | ANALYSIS AND MODELING OF TERMINAL POSITION ERROR OF PARALLEL MANIPULATOR BASED ON MDH METHOD |
| title_short | ANALYSIS AND MODELING OF TERMINAL POSITION ERROR OF PARALLEL MANIPULATOR BASED ON MDH METHOD |
| title_sort | analysis and modeling of terminal position error of parallel manipulator based on mdh method |
| topic | Parallel manipulator Parallelogram mechanism Position error Modified D-H method |
| url | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2022.04.025 |
| work_keys_str_mv | AT zhangyunfan analysisandmodelingofterminalpositionerrorofparallelmanipulatorbasedonmdhmethod AT chenjinjie analysisandmodelingofterminalpositionerrorofparallelmanipulatorbasedonmdhmethod AT haoxinlong analysisandmodelingofterminalpositionerrorofparallelmanipulatorbasedonmdhmethod |