Error Analysis on Cartesian Serial-Parallel Manipulator with Redundant Drive

The serial-parallel robot can be resolved into the serial combination of two parallel robots. Each branch chain of the parallel robot is all a serial branch chain. By utilizing the kinematics equivalency and considering the influences on posture errors of the final moving platform affected by end er...

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Bibliographic Details
Published inApplied Mechanics and Materials Vol. 602-605; no. Advanced Manufacturing and Information Engineering, Intelligent Instrumentation and Industry Development; pp. 903 - 907
Main Authors Luo, Jian Guo, He, Mao Yan
Format Journal Article
LanguageEnglish
Published Zurich Trans Tech Publications Ltd 11.08.2014
Subjects
Chain branching
Chains
Dynamic tests
Equivalence
Error analysis
Mathematical analysis
Robots
Serials
Error
Redundant Actuation
Serial
Parallel
Influence Factor
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Summary:The serial-parallel robot can be resolved into the serial combination of two parallel robots. Each branch chain of the parallel robot is all a serial branch chain. By utilizing the kinematics equivalency and considering the influences on posture errors of the final moving platform affected by end errors of each branch, the synthetic analytical method based on dynamic and static factors was put forward. The main affection factor was presented and effectiveness verification has been carried out on the conclusion of study by the form of a living example.
Bibliography:Selected, peer reviewed papers from the 2014 2nd International Conference on Precision Mechanical Instruments and Measurement Technology (ICPMIMT 2014), May 30-31, 2014, Chongqing, China
ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISBN:9783038351948
3038351946
ISSN:1660-9336
1662-7482
1662-7482
DOI:10.4028/www.scientific.net/AMM.602-605.903