Accuracy of positioning and orientation of effector of planar parallel manipulator 3RRR

• Autorzy: Prucnal-Wiesztort M.

Identyfikatory

DOI

10.1515/ama-2015-0025

• Języki publikacji: EN

Abstrakty

EN

Parallel manipulator belongs to group of mechanisms with closed kinematic chains. This feature involves both advantages and disadvantages. The study examined the issue of accuracy of a planar system with three degrees of freedom, with revolute pairs, showing the effect of errors of the drives settings on effector positioning deviation. Enclosed is a numerical example for which analyzed the deviation in motion manipulator when going through the singular configuration. Based on the analysis was determined the area around the singular positions for which to obtain the orientation of the assumed accuracy is impossible.

Słowa kluczowe

EN

accuracy of positioning; planar parallel manipulators; singularities

PL

dokładność pozycjonowania; manipulator równoległy; łańcuch kinematyczny zamknięty

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2015
• Tom: Vol. 9, no. 3
• Strony: 151--154
• Opis fizyczny: Bibliogr. 10 poz., rys., tab., wykr.

Twórcy

autor

Prucnal-Wiesztort M.

• Faculty of Mechanical Engineering, Wrocław University of Technology, ul. Łukasiewicza 5, 50-371 Wrocław, Poland

Bibliografia

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• 4. Choi J. H., Seo T., Lee J. W. (2013), Singularity Analysis of a Planar Parallel Mechanism with Revolute Joints based on a Geometric Approach, International Journal of Precision Engineering and Manufacturing, 14(8), 1369-1375.
• 5. Firmani F., Podhorodeski R. P. (2009), Singularity analysis of planar parallel manipulators based on forward kinematic solutions, Mechanism & Machine Theory, 44 (7), 1386-1399.
• 6. Gronowicz A., Prucnal-Wiesztort M. (2006), Singular configurations of planar paralel manipulators, Archves of Civil and Mechanical Engineering, 6(2), 21-30.
• 7. Huang M. Z., Thebert J.-L. (2010), A study of workspace and singularity characteristics for design of 3-DOF planar parallel robots, International Journal of Advanced Manufacturing Technology, 51(5-8), 789-797.
• 8. Tannous M., Caro S., Goldsztejn A. (2014), Sensitivity analysis of parallel manipulators using an interval linearization method, Mechanism & Machine Theory, 71, 93-114.
• 9. Yu A., Zsombor-Murray P., Bonev I. A. (2008), Geometric approach to the accuracy analysis of a class of 3-DOF planar parallel robots, Mechanism and Machine Theory, 43(3), 364-375.
• 10. Zhang Q. H, Fan X. R., Zhang X. M. (2014), Dynamic Analysis of Planar 3-(R)under-barRR Flexible Parallel Robots with Dynamic Stiffening, Shock and Vibration, Article ID 370145, 1-13.