Error modeling, sensitivity analysis and assembly process of a class of 3-DOF parallel kinematic machines with parallelogram struts
This paper presents an error modeling methodology that enables the tolerance design, assembly and kinematic calibration of a class of 3-DOF parallel kinematic machines with parallelogram struts to be integrated into a unified framework. The error mapping function is formulated to identify the source...
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| Published in | Science China. Technological sciences Vol. 45; no. 5; pp. 467 - 476 |
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| Main Authors | , , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
01.10.2002
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1674-7321 1869-1900 |
| DOI | 10.1360/02ye9054 |
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| Abstract | This paper presents an error modeling methodology that enables the tolerance design, assembly and kinematic calibration of a class of 3-DOF parallel kinematic machines with parallelogram struts to be integrated into a unified framework. The error mapping function is formulated to identify the source errors affecting the uncompensable pose error. The sensitivity analysis in the sense of statistics is also carried out to investigate the influences of source errors on the pose accuracy. An assembly process that can effectively minimize the uncompensable pose error is proposed as one of the results of this investigation. |
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| AbstractList | This paper presents an error modeling methodology that enables the tolerance design, assembly and kinematic calibration of a class of 3-DOF parallel kinematic machines with parallelogram struts to be integrated into a unified framework. The error mapping function is formulated to identify the source errors affecting the uncompensable pose error. The sensitivity analysis in the sense of statistics is also carried out to investigate the influences of source errors on the pose accuracy. An assembly process that can effectively minimize the uncompensable pose error is proposed as one of the results of this investigation. |
| Author | HUANG Tian (黄田) LI Ya (李亚) TANG Guobao (唐国宝) LI Siwei (李思维) ZHAO Xingyu (赵兴玉) David. J. Whitehouse Derek G. Chetewyn Xianping Liu |
| AuthorAffiliation | School of Mechanical Engineering, Tianjin University, Tianjin 300072, China School of Mechanical Engineering, Tianjin University, Tianjin 300072, China School of Mechanical Engineering, Tianjin University, Tianjin 300072, China School of Mechanical Engineering, Tianjin University, Tianjin 300072, China School of Mechanical Engineering, Tianjin University, Tianjin 300072, China School of Engineering, University of Warwick, Coventry CV4 7AL, UK School of Engineering, University of Warwick, Coventry CV4 7AL, UK School of Engineering, University of Warwick, Coventry CV4 7AL, UK |
| Author_xml | – sequence: 1 givenname: Tian surname: Huang fullname: Huang, Tian – sequence: 2 givenname: Ya surname: Li fullname: Li, Ya – sequence: 3 givenname: Guobao surname: Tang fullname: Tang, Guobao – sequence: 4 givenname: Siwei surname: Li fullname: Li, Siwei – sequence: 5 givenname: Xingyu surname: Zhao fullname: Zhao, Xingyu – sequence: 6 givenname: Whitehouse surname: David. J. fullname: David. J., Whitehouse – sequence: 7 givenname: Chetewyn surname: Derek G. fullname: Derek G., Chetewyn – sequence: 8 givenname: Liu surname: Xianping fullname: Xianping, Liu |
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| Cites_doi | 10.1115/DETC98/MECH-5940 10.1016/0141-6359(86)90059-0 10.1016/S0007-8506(07)62946-1 10.1109/ROBOT.1993.291970 10.1002/(SICI)1097-4563(199807)15:7<395::AID-ROB2>3.0.CO;2-H 10.1016/S0007-8506(07)60507-1 10.1002/rob.4620100306 10.1109/70.585901 10.1016/S0890-6955(95)00106-9 10.1016/S0007-8506(07)60827-0 |
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| References | K. H. Wurst (450500467_CR12) 1998 H. Zhuang (450500467_CR18) 1993; 10 H. Zhuang (450500467_CR20) 1998; 15 L. W. Tsai (450500467_CR5) 1999 T. Huang (450500467_CR15) 2000; 49 J. A. Soons (450500467_CR9) 1997 450500467_CR11 450500467_CR22 J. S. Wang (450500467_CR2) 1999; 10 450500467_CR3 O. Masory (450500467_CR16) 1993; 2 P. Schellekens (450500467_CR8) 1998; 48 450500467_CR17 450500467_CR1 L. Ma (450500467_CR13) 1999; 10 450500467_CR19 C. M. Creveling (450500467_CR4) 1997 S. Sarori (450500467_CR10) 1995; 44 M. A. Donmez (450500467_CR14) 1986; 8 J. Mou (450500467_CR6) 1997; 37 A. J. Patel (450500467_CR7) 1996; 46 H. Zhuang (450500467_CR21) 1997; 13 |
| References_xml | – ident: 450500467_CR3 doi: 10.1115/DETC98/MECH-5940 – volume: 8 start-page: 187 issue: 4 year: 1986 ident: 450500467_CR14 publication-title: ASPE J. of Precision Engineering doi: 10.1016/0141-6359(86)90059-0 – start-page: 377 volume-title: Proc. of the 1st European-American Forum on Parallel Kinematic Machines year: 1998 ident: 450500467_CR12 – volume-title: Robot Analysis—The Mechanisms of Serial and Parallel Manipulators year: 1999 ident: 450500467_CR5 – ident: 450500467_CR1 – ident: 450500467_CR22 – volume: 2 start-page: 725 year: 1993 ident: 450500467_CR16 publication-title: Proc. of ICRA IEEE – volume-title: Tolerance Design—A Handbook for Developing Optimal Specifications year: 1997 ident: 450500467_CR4 – volume: 48 start-page: 1 issue: 2 year: 1998 ident: 450500467_CR8 publication-title: CIRP Annals – volume: 49 start-page: 281 issue: 1 year: 2000 ident: 450500467_CR15 publication-title: CIRP Annals doi: 10.1016/S0007-8506(07)62946-1 – ident: 450500467_CR11 doi: 10.1109/ROBOT.1993.291970 – volume: 10 start-page: 1103 issue: 10 year: 1999 ident: 450500467_CR2 publication-title: J. of Mechanical Engineering – volume: 15 start-page: 395 issue: 7 year: 1998 ident: 450500467_CR20 publication-title: J. Robotic System doi: 10.1002/(SICI)1097-4563(199807)15:7<395::AID-ROB2>3.0.CO;2-H – volume: 44 start-page: 599 issue: 2 year: 1995 ident: 450500467_CR10 publication-title: CIRP Annals doi: 10.1016/S0007-8506(07)60507-1 – ident: 450500467_CR17 – volume: 10 start-page: 391 issue: 3 year: 1993 ident: 450500467_CR18 publication-title: J. of Robotic System doi: 10.1002/rob.4620100306 – volume: 13 start-page: 387 issue: 3 year: 1997 ident: 450500467_CR21 publication-title: IEEE Trans. on Robotics and Automation doi: 10.1109/70.585901 – ident: 450500467_CR19 – volume: 37 start-page: 669 issue: 5 year: 1997 ident: 450500467_CR6 publication-title: Int. J. Machine Tool and Manufacturing doi: 10.1016/S0890-6955(95)00106-9 – volume: 46 start-page: 287 issue: 1 year: 1996 ident: 450500467_CR7 publication-title: CIRP Annals doi: 10.1016/S0007-8506(07)60827-0 – volume: 10 start-page: 1114 issue: 10 year: 1999 ident: 450500467_CR13 publication-title: J. of Mechanical Engineering – start-page: 346 volume-title: Laser Metrology and Machine Performance year: 1997 ident: 450500467_CR9 |
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| Title | Error modeling, sensitivity analysis and assembly process of a class of 3-DOF parallel kinematic machines with parallelogram struts |
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