A New Quantitative Performance Index for Low Mobility Parallel Kinematic Manipulators’ Accuracy
Due to the effect of joint clearance and component flexibility ( joint or link), a parallel kinematic manipulator (PKM), with proposed motion type G (∪) SE(3), may have undesirable (or uncompensatible) pose error beyond G at the end-effector, which would cause severe accuracy performance degeneration of the PKM. As such phenomenons have been discovered and verified in many researches, we proposed a new performance index, called Type Error, which could be applied to evaluate such undesirable errors. Specifically with this index, the largest translational/rotational pose error could be quantized and the worst case over the designed workspace can be predicted. A three-step method for general application is presented in details by case study of three kinds of translational PKM.
Jinbo Shi Zexiang Li Yuanqing Wu
Department of Electrical and Computer Engineering,Hong Kong University of Science and Technology Faculty of Electrical and Computer Engineering,Hong Kong University of Science and Technology
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2745-2750
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）