Accuracy Analysis of a Redundantly Actuated Parallel Mechanism Considering Passive Joint Clearances

Jianzhong Ding; Shiming Zhou; Haoran Yu; Xueao Liu; Chunjie Wang

doi:10.1007/978-3-031-45705-0_33

Accuracy Analysis of a Redundantly Actuated Parallel Mechanism Considering Passive Joint Clearances

Jianzhong Ding^*
, Shiming Zhou
, Haoran Yu
, Xueao Liu
, Chunjie Wang

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University
North China University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This paper develops a geometric alternative to estimate the positioning and orientation errors of a 3-RSU-U parallel mechanism (PM). Clearances of the passive spherical and universal joints are considered. First, positioning error spaces of the revolute joint, spherical joint and universal joint are derived, respectively. Furthermore, error propagation and accumulation among the serial RSU limb are analyzed, following which, the positioning and orientation error modeling and estimation methods of the manipulator are discussed. The proposed geometric method is further illustrated and validated using a case study of analyzing the orientation errors of the 3-RSU-U PM given various rotation axes. Finally, we conclude the study with discussions.

Original language	English
Title of host publication	Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1
Editors	Masafumi Okada
Publisher	Springer Science and Business Media B.V.
Pages	333-345
Number of pages	13
ISBN (Print)	9783031457043
DOIs	https://doi.org/10.1007/978-3-031-45705-0_33
State	Published - 2023
Event	16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 - Tokyo, Japan Duration: 5 Nov 2023 → 9 Nov 2023

Publication series

Name	Mechanisms and Machine Science
Volume	147
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
Country/Territory	Japan
City	Tokyo
Period	5/11/23 → 9/11/23

Keywords

Accuracy analysis
Error modeling
Joint clearance
Parallel mechanism

Access to Document

10.1007/978-3-031-45705-0_33

Cite this

Ding, J., Zhou, S., Yu, H., Liu, X., & Wang, C. (2023). Accuracy Analysis of a Redundantly Actuated Parallel Mechanism Considering Passive Joint Clearances. In M. Okada (Ed.), Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1 (pp. 333-345). (Mechanisms and Machine Science; Vol. 147). Springer Science and Business Media B.V.. https://doi.org/10.1007/978-3-031-45705-0_33

Ding, Jianzhong ; Zhou, Shiming ; Yu, Haoran et al. / Accuracy Analysis of a Redundantly Actuated Parallel Mechanism Considering Passive Joint Clearances. Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1. editor / Masafumi Okada. Springer Science and Business Media B.V., 2023. pp. 333-345 (Mechanisms and Machine Science).

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title = "Accuracy Analysis of a Redundantly Actuated Parallel Mechanism Considering Passive Joint Clearances",

abstract = "This paper develops a geometric alternative to estimate the positioning and orientation errors of a 3-RSU-U parallel mechanism (PM). Clearances of the passive spherical and universal joints are considered. First, positioning error spaces of the revolute joint, spherical joint and universal joint are derived, respectively. Furthermore, error propagation and accumulation among the serial RSU limb are analyzed, following which, the positioning and orientation error modeling and estimation methods of the manipulator are discussed. The proposed geometric method is further illustrated and validated using a case study of analyzing the orientation errors of the 3-RSU-U PM given various rotation axes. Finally, we conclude the study with discussions.",

keywords = "Accuracy analysis, Error modeling, Joint clearance, Parallel mechanism",

author = "Jianzhong Ding and Shiming Zhou and Haoran Yu and Xueao Liu and Chunjie Wang",

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Ding, J, Zhou, S, Yu, H, Liu, X & Wang, C 2023, Accuracy Analysis of a Redundantly Actuated Parallel Mechanism Considering Passive Joint Clearances. in M Okada (ed.), Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1. Mechanisms and Machine Science, vol. 147, Springer Science and Business Media B.V., pp. 333-345, 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023, Tokyo, Japan, 5/11/23. https://doi.org/10.1007/978-3-031-45705-0_33

Accuracy Analysis of a Redundantly Actuated Parallel Mechanism Considering Passive Joint Clearances. / Ding, Jianzhong; Zhou, Shiming; Yu, Haoran et al.
Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1. ed. / Masafumi Okada. Springer Science and Business Media B.V., 2023. p. 333-345 (Mechanisms and Machine Science; Vol. 147).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

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N2 - This paper develops a geometric alternative to estimate the positioning and orientation errors of a 3-RSU-U parallel mechanism (PM). Clearances of the passive spherical and universal joints are considered. First, positioning error spaces of the revolute joint, spherical joint and universal joint are derived, respectively. Furthermore, error propagation and accumulation among the serial RSU limb are analyzed, following which, the positioning and orientation error modeling and estimation methods of the manipulator are discussed. The proposed geometric method is further illustrated and validated using a case study of analyzing the orientation errors of the 3-RSU-U PM given various rotation axes. Finally, we conclude the study with discussions.

AB - This paper develops a geometric alternative to estimate the positioning and orientation errors of a 3-RSU-U parallel mechanism (PM). Clearances of the passive spherical and universal joints are considered. First, positioning error spaces of the revolute joint, spherical joint and universal joint are derived, respectively. Furthermore, error propagation and accumulation among the serial RSU limb are analyzed, following which, the positioning and orientation error modeling and estimation methods of the manipulator are discussed. The proposed geometric method is further illustrated and validated using a case study of analyzing the orientation errors of the 3-RSU-U PM given various rotation axes. Finally, we conclude the study with discussions.

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KW - Error modeling

KW - Joint clearance

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Ding J, Zhou S, Yu H, Liu X, Wang C. Accuracy Analysis of a Redundantly Actuated Parallel Mechanism Considering Passive Joint Clearances. In Okada M, editor, Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1. Springer Science and Business Media B.V. 2023. p. 333-345. (Mechanisms and Machine Science). doi: 10.1007/978-3-031-45705-0_33