Error Modeling and Experimental Validation of a Planar 3-PPR Parallel Manipulator With Joint Clearances | Zendy

Guanglei Wu | Zendy; Shaoping Bai | Zendy; J. Kepler | Zendy; Stéphane Caro | Zendy

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Error Modeling and Experimental Validation of a Planar 3-PPR Parallel Manipulator With Joint Clearances

Author(s) -

Guanglei Wu,

Shaoping Bai,

J. Kepler,

Stéphane Caro

Publication year - 2012

Publication title -

journal of mechanisms and robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.591

H-Index - 45

eISSN - 1942-4310

pISSN - 1942-4302

DOI - 10.1115/1.4007487

Subject(s) - kinematics , parallel manipulator , workspace , joint (building) , planar , cartesian coordinate system , manipulator (device) , computer science , control theory (sociology) , serial manipulator , simulation , robot , mathematics , engineering , artificial intelligence , structural engineering , geometry , control (management) , physics , computer graphics (images) , classical mechanics

This paper deals with the error modelling and analysis of a 3-\underline{P}PR 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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