Accuracy Synthesis of a 2UPS & UPR & UP Parallel Robot
An accuracy synthesis approach for a 2UPS & UPR & UP parallel robot is proposed. Based on the nominal kinematic equations, an error mapping model of the robot is established using the perturbation method, and the compensable and uncompensable geometric error sources are sorted out. T...
| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.01.002 |
| _version_ | 1797818938027933696 |
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| author | Zhu Chao Sun Zaichao Zhang Jun |
| author_facet | Zhu Chao Sun Zaichao Zhang Jun |
| author_sort | Zhu Chao |
| collection | DOAJ |
| description | An accuracy synthesis approach for a 2UPS & UPR & UP parallel robot is proposed. Based on the nominal kinematic equations, an error mapping model of the robot is established using the perturbation method, and the compensable and uncompensable geometric error sources are sorted out. The standard deviation relationship between the uncompensable error sources and the terminal attitude errors is established to reveal the standard deviation distribution of the terminal attitude error in the workspace. A sensitivity analysis of the uncompensable error sources is carried out to determine the influence of each uncompensable geometric error source on the terminal accuracy. According to the 3<italic>σ</italic> principle, the sensitivity index is taken as the allocation coefficient, and the values of the uncompensable error sources under the given terminal accuracy are obtained through the accuracy synthesis. The proposed approach can provide a theoretical basis for the manufacturing of the robot, and the effectiveness of the proposed method is verified by simulation. |
| first_indexed | 2024-03-13T09:15:31Z |
| format | Article |
| id | doaj.art-c2f29d70ea4f4c7f9c0dab10dcf5abd4 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:15:31Z |
| publishDate | 2023-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-c2f29d70ea4f4c7f9c0dab10dcf5abd42023-05-26T09:57:31ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-01-0147111633589226Accuracy Synthesis of a 2UPS & UPR & UP Parallel RobotZhu ChaoSun ZaichaoZhang JunAn accuracy synthesis approach for a 2UPS & UPR & UP parallel robot is proposed. Based on the nominal kinematic equations, an error mapping model of the robot is established using the perturbation method, and the compensable and uncompensable geometric error sources are sorted out. The standard deviation relationship between the uncompensable error sources and the terminal attitude errors is established to reveal the standard deviation distribution of the terminal attitude error in the workspace. A sensitivity analysis of the uncompensable error sources is carried out to determine the influence of each uncompensable geometric error source on the terminal accuracy. According to the 3<italic>σ</italic> principle, the sensitivity index is taken as the allocation coefficient, and the values of the uncompensable error sources under the given terminal accuracy are obtained through the accuracy synthesis. The proposed approach can provide a theoretical basis for the manufacturing of the robot, and the effectiveness of the proposed method is verified by simulation.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.01.002Parallel robot;Error model;Accuracy analysis;Accuracy synthesis |
| spellingShingle | Zhu Chao Sun Zaichao Zhang Jun Accuracy Synthesis of a 2UPS & UPR & UP Parallel Robot Jixie chuandong Parallel robot;Error model;Accuracy analysis;Accuracy synthesis |
| title | Accuracy Synthesis of a 2UPS & UPR & UP Parallel Robot |
| title_full | Accuracy Synthesis of a 2UPS & UPR & UP Parallel Robot |
| title_fullStr | Accuracy Synthesis of a 2UPS & UPR & UP Parallel Robot |
| title_full_unstemmed | Accuracy Synthesis of a 2UPS & UPR & UP Parallel Robot |
| title_short | Accuracy Synthesis of a 2UPS & UPR & UP Parallel Robot |
| title_sort | accuracy synthesis of a 2ups amp upr amp up parallel robot |
| topic | Parallel robot;Error model;Accuracy analysis;Accuracy synthesis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.01.002 |
| work_keys_str_mv | AT zhuchao accuracysynthesisofa2upsampuprampupparallelrobot AT sunzaichao accuracysynthesisofa2upsampuprampupparallelrobot AT zhangjun accuracysynthesisofa2upsampuprampupparallelrobot |