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.
|Title of host publication||IEEE The 15th International Conference on Advanced Robotics (ICAR)|
|Number of pages||6|
|Publication status||Published - 2011|
|Event||The 15th International Conference on Advanced Robotics - Tallinn, Estonia|
Duration: 20 Jun 2011 → 23 Jun 2011
|Conference||The 15th International Conference on Advanced Robotics|
|Period||20/06/2011 → 23/06/2011|