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

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

4 Citations (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.
Original languageEnglish
Title of host publicationIEEE The 15th International Conference on Advanced Robotics (ICAR)
Number of pages6
PublisherIEEE
Publication date2011
Pages259-264
ISBN (Electronic)978-1-4577-1157-2/11
DOIs
Publication statusPublished - 2011
EventThe 15th International Conference on Advanced Robotics - Tallinn, Estonia
Duration: 20 Jun 201123 Jun 2011

Conference

ConferenceThe 15th International Conference on Advanced Robotics
Country/TerritoryEstonia
CityTallinn
Period20/06/201123/06/2011

Fingerprint

Dive into the research topics of 'Error Modelling and Experimental Validation for a Planar 3-PPR Parallel Manipulator'. Together they form a unique fingerprint.

Cite this