Error modelling and experimental validation of a planar 3-PPR parallel manipulator with joint clearances

Guanglei Wu; Shaoping Bai; Jørgen Asbøl Kepler; Stephane Caro

doi:10.1115/1.4007487

Error modelling and experimental validation of a planar 3-PPR parallel manipulator with joint clearances

Guanglei Wu, Shaoping Bai, Jørgen Asbøl Kepler, Stephane Caro

Solid and Computational Mechanics

Research output: Contribution to journal › Journal article › Research › peer-review

42 Citations (Scopus)

Abstract

This paper deals with the error modelling and analysis of a 3-PPR planar parallel manipulator with joint clearances. The kinematics and the Cartesian workspace of the manipulator are analyzed. An error model is established with considerations of both configuration errors and joint clearances. Using this model, the upper bounds and distributions of the pose errors for this manipulator are established. The results are compared with experimental measurements and show the effectiveness of the error prediction model.

Original language	English
Journal	Journal of Mechanisms and Robotics
Volume	4
Issue number	4
Pages (from-to)	041008-1-041008-12
Number of pages	12
ISSN	1942-4302
DOIs	https://doi.org/10.1115/1.4007487
Publication status	Published - 2012

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AB - This paper deals with the error modelling and analysis of a 3-PPR planar parallel manipulator with joint clearances. The kinematics and the Cartesian workspace of the manipulator are analyzed. An error model is established with considerations of both configuration errors and joint clearances. Using this model, the upper bounds and distributions of the pose errors for this manipulator are established. The results are compared with experimental measurements and show the effectiveness of the error prediction model.

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Error modelling and experimental validation of a planar 3-PPR parallel manipulator with joint clearances

Abstract

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