Effect of Joint Errors in a Cubic Parallel Device

육면형 병렬기구에서의 조인트 오차의 영향

  • Published : 2001.06.01

Abstract

An error analysis is very important for a precision machine to estimate its performances. This study proposes a new parallel device, cubic parallel manipulator. Errors of the proposed cubic parallel manipulator include upper and down universal joint errors, due to the directional changes in the forces in the links, and actuation errors. An error analysis is presented based on an error model formed through the relation between the universal joint errors of the cubic parallel manipulator and the end effector accuracy. The analysis shows that the method can be used in predicting the accuracy of other cubic parallel devices.

Keywords

References

  1. O. Masory, J. Wang, 'On the Accuracy of a Stewart Platform-Part I The Effect of Manufacturing Tolerances', IEEE Conference on Robotics and Automation, Vol.1, pp.114-120, 1993 https://doi.org/10.1109/ROBOT.1993.291970
  2. S. M. Wang, K. F. Ehmann, 'Error Model and Accuracy Analysis of A Six-DOF Stewart Platform', Maunfacturing Science and Engineering, Vol.2, pp.519-530, 1995 https://doi.org/10.1115/1.1445148
  3. S. Satori, G. X. Zhang, 'Geometirc Error Measurement and Compensation of Machines', Annals of the CIRP, Vol.44, pp.599-609, 1995 https://doi.org/10.1016/S0007-8506(07)60507-1
  4. T. Roopponen, T. Arai, 'Accuracy Analysis of a Modified Stewart Platform', IEEE Conference on Robotics and Automation, Vol.1, pp.521-525, 1995 https://doi.org/10.1109/ROBOT.1995.525336
  5. 전진철, 이선규, '6-PRRS 병렬형 기계의 오차해석 및 교정에 관한 연구', 한국정밀공학회추계학술대회 논문집, 제I권, pp.239-242, 1999