Geometrical Error Modeling and Analysis of a 3-DoF Rotational Parallel Manipulator with Screw Theory
Driven by the increasing requirements for the tracking equipment of the satellite antenna and the high-speed positioning device of the laser,this paper proposes a three degrees-of-freedom rotational parallel manipulator 3-PSU&S.Here,P,S,R and U represent the prismatic,spherical,revolute and universal joint.Considering all geometrical error sources,the error model of the 3-PSU&S parallel manipulator is established by means of the screw theory,in which the compensable and non-compensable errors are separated effectively according to the Jacobian matrix of actuations and constraints.Then the sensitivity analysis of the eight non-compensable errors with respect to the end pose errors is carried out with the method of the sensitivity coefficient,and the configurations of the 3-PSU&S parallel manipulator are obtained when the end pose errors approach their maximums.Moreover,kinematic calibration is simulated at last.This paper aims at laying a solid theoretical foundation for the kinematic calibration of the 3-PSU&S parallel manipulator.
Rotational parallel manipulator Error modeling Sensitivity analysis Simulation Screw theory
Yimin Song Yapu Zhai Jiateng Zhang Tao Sun Guoguang Jin Jian S.Dai
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University, Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tianjin Polytechnic University, Kings College London,University of London,Strand,London WC2R 2LS,United Kingdom
国际会议
天津
英文
1-8
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）