Structural error identification and kinematic accuracy analysis of a 2(3PUS + S) parallel manipulator

•Error model includes structural static errors and spherical joint clearance is built.•For parallel manipulator with two moving platforms, kinematic accuracy is studied.•Relationship between posture accuracy and structural parameters is analyzed. To study the influence of structural static errors an...

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Bibliographic Details
Published in:Measurement : journal of the International Measurement Confederation 2019-07, Vol.140, p.22-28
Main Authors: Shan, Xianlei, Cheng, Gang
Format: Article
Language:English
Subjects:
Calibration
Error analysis
Error identification
Error model
Errors
Kinematic accuracy
Kinematics
Mathematical models
Parallel manipulator
Parameter estimation
Perturbation methods
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Description
Summary:•Error model includes structural static errors and spherical joint clearance is built.•For parallel manipulator with two moving platforms, kinematic accuracy is studied.•Relationship between posture accuracy and structural parameters is analyzed. To study the influence of structural static errors and spherical joint clearance on the kinematic accuracy of a 2(3PUS + S) parallel manipulator, error modeling and calibration are carried out. On the basis of error sources analysis, error model is established under the perturbation condition. The equivalent error vector of the spherical joint clearance is deduced through the orientation of the constraining force. With the consideration of the structural feature of the parallel manipulator with two moving platforms, error identification and calibration strategies are studied. Furthermore, under the constant trajectory, relationship between the posture accuracy and the structural parameters is analyzed.
ISSN:0263-2241
1873-412X
DOI:10.1016/j.measurement.2019.03.039