Error Modelling and Experimental Validation for a Planar 3-PPR Parallel Manipulator

Guanglei Wu; Shaoping Bai; Jørgen Asbøl Kepler

doi:10.1109/ICAR.2011.6088573

Error Modelling and Experimental Validation for a Planar 3-PPR Parallel Manipulator

Guanglei Wu, Shaoping Bai, Jørgen Asbøl Kepler

Solid and Computational Mechanics

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

4 Citationer (Scopus)

Abstract

In this paper, the positioning error of a 3-PPR planar parallel manipulator is studied with an error model and experimental validation. First, the displacement and workspace are analyzed. An error model considering both configuration errors and joint clearance errors is established. Using this model, the maximum positioning error was estimated for a U-shape PPR planar manipulator, the results being compared with the experimental measurements. It is found that the error distributions from the simulation is approximate to that of themeasurements.

Originalsprog	Engelsk
Titel	IEEE The 15th International Conference on Advanced Robotics (ICAR)
Antal sider	6
Forlag	IEEE
Publikationsdato	2011
Sider	259-264
ISBN (Elektronisk)	978-1-4577-1157-2/11
DOI	https://doi.org/10.1109/ICAR.2011.6088573
Status	Udgivet - 2011
Begivenhed	The 15th International Conference on Advanced Robotics - Tallinn, Estland Varighed: 20 jun. 2011 → 23 jun. 2011

Konference

Konference	The 15th International Conference on Advanced Robotics
Land/Område	Estland
By	Tallinn
Periode	20/06/2011 → 23/06/2011

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10.1109/ICAR.2011.6088573

http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6088573

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Citationsformater

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title = "Error Modelling and Experimental Validation for a Planar 3-PPR Parallel Manipulator",

abstract = "In this paper, the positioning error of a 3-PPR planar parallel manipulator is studied with an error model and experimental validation. First, the displacement and workspace are analyzed. An error model considering both configuration errors and joint clearance errors is established. Using this model, the maximum positioning error was estimated for a U-shape PPR planar manipulator, the results being compared with the experimental measurements. It is found that the error distributions from the simulation is approximate to that of themeasurements.",

author = "Guanglei Wu and Shaoping Bai and Kepler, {J{\o}rgen Asb{\o}l}",

year = "2011",

doi = "10.1109/ICAR.2011.6088573",

language = "English",

pages = "259--264",

booktitle = "IEEE The 15th International Conference on Advanced Robotics (ICAR)",

publisher = "IEEE",

address = "United States",

note = "The 15th International Conference on Advanced Robotics ; Conference date: 20-06-2011 Through 23-06-2011",

}

TY - GEN

T1 - Error Modelling and Experimental Validation for a Planar 3-PPR Parallel Manipulator

AU - Wu, Guanglei

AU - Bai, Shaoping

AU - Kepler, Jørgen Asbøl

PY - 2011

Y1 - 2011

N2 - In this paper, the positioning error of a 3-PPR planar parallel manipulator is studied with an error model and experimental validation. First, the displacement and workspace are analyzed. An error model considering both configuration errors and joint clearance errors is established. Using this model, the maximum positioning error was estimated for a U-shape PPR planar manipulator, the results being compared with the experimental measurements. It is found that the error distributions from the simulation is approximate to that of themeasurements.

AB - In this paper, the positioning error of a 3-PPR planar parallel manipulator is studied with an error model and experimental validation. First, the displacement and workspace are analyzed. An error model considering both configuration errors and joint clearance errors is established. Using this model, the maximum positioning error was estimated for a U-shape PPR planar manipulator, the results being compared with the experimental measurements. It is found that the error distributions from the simulation is approximate to that of themeasurements.

U2 - 10.1109/ICAR.2011.6088573

DO - 10.1109/ICAR.2011.6088573

M3 - Article in proceeding

SP - 259

EP - 264

BT - IEEE The 15th International Conference on Advanced Robotics (ICAR)

PB - IEEE

T2 - The 15th International Conference on Advanced Robotics

Y2 - 20 June 2011 through 23 June 2011

ER -

Error Modelling and Experimental Validation for a Planar 3-PPR Parallel Manipulator

Abstract

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