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

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

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34 Citationer (Scopus)

Abstrakt

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.
OriginalsprogEngelsk
TidsskriftJournal of Mechanisms and Robotics
Vol/bind4
Udgave nummer4
Sider (fra-til)041008-1-041008-12
Antal sider12
ISSN1942-4302
DOI
StatusUdgivet - 2012

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