Hostname: page-component-78c5997874-xbtfd Total loading time: 0 Render date: 2024-11-05T03:35:36.414Z Has data issue: false hasContentIssue false
  • English
  • Français

Analysis and mapping of the orientation error of a 3-DOF translational parallel manipulator

Published online by Cambridge University Press:  01 May 2009

Zouhaier Affi  and
Lotfi Romdhane
Zouhaier Affi*
Affiliation:
Laboratoire de Génie Mécanique, Ecole Nationale d'Ingénieurs de Monastir, Monastir 5019, Tunisia
Lotfi Romdhane
Affiliation:
Laboratoire de Génie Mécanique, Ecole Nationale d'Ingénieurs de Sousse, Sousse 4000, Tunisia
*
*Corresponding author. [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper deals with the computation of the orientation error and the kinematic model of a 3-DOF translational parallel manipulator called the RAF robot. We derived a simple analytical model allowing the computation of the orientation, generated by the deformation of the PKLs, when an external load is applied to the platform. These models allowed us to map the orientation error on the workspace of the robot. We showed in particular that the minimum orientation error can be obtained when the platform is in a certain region of its workspace. Due to its analytical nature, the developed model can also be used for a sensitivity analysis in order to maximize the manipulator precision.

Keywords

Orientation errorParallel manipulatorKinematic modeling
Type
Article
Information
Robotica , Volume 27 , Issue 3 , May 2009 , pp. 367 - 377
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Romdhane, L., Affi, Z. and Fayet, M., “Design and singularity analysis of a 3 translational-DOF in-parallel manipulator,” ASME J. Mech. Design 124, 419–426 (2002).CrossRefGoogle Scholar
2.Majou, F., Gosselin, C., Wenger, P. and Chablat, D., “Parametric stiffness analysis of the Orthoglide,” Mech. Machine Theory 42, 296–311 (2007).CrossRefGoogle Scholar
3.Tsai, L. and Joshi, S., “Kinematics and optimization of a spatial 3-UPU parallel manipulator,” ASME J. Mech. Design 122, 439–446 (2000).CrossRefGoogle Scholar
4.Liu, X. J., Jeong, J. I. and Kim, J., “A three translational DoFs parallel cube-manipulator,” Robotica 21, 645–653 (2003).CrossRefGoogle Scholar
5.Xu, Q. and Li, Y., “A novel design of a 3-PRC translational compliant parallel micromanipulator for nanomanipulation,” Robotica 24, 527–528 (2006).CrossRefGoogle Scholar
6.Huang, T., Zhou, X. and Whitehouse, D. J., “Stiffness estimation of tripod-based parallel kinematic machine,” IEEE Trans. Robot. Automation 18 (1), 50–58 (2002).CrossRefGoogle Scholar
7.Yoon, W. K., Suehiro, T., Tsumaki, Y. and Uchiyama, M., “Stiffness analysis and design of a compact modified delta parallel mechanism,” Robotica 22, 463–475 (2004).CrossRefGoogle Scholar
8.Ciblak, N. and Lipkin, H., “Synthesis of stiffnesses by springs,” ASME Design Engineering Technical Conferences, Atlanta, Georgia (Sep. 13–16, 1998).Google Scholar
9.Gosselin, C., “Stiffness mapping for parallel manipulators,” IEEE Trans. Robot. Automation 6 (3), 377–382 (1990).CrossRefGoogle Scholar
10.Affi, Z., Romdhane, L. and Maalej, A., “Stiffness analysis of a 3-translational DOF in-parallel manipulator,” first international Congress design and Modelling of Mechanical Systems (CMSM), Hammamet, Tunisia (2005).Google Scholar
11.Chacarov, D., “Study of the passive compliance of parallel manipulators,” Mech. Machine Theory 34, 373–389 (1999).CrossRefGoogle Scholar
12.Venanzi, S., Giesen, P. and Parenti-Castelli, V., “A novel technique for position analysis of planar compliant mechanisms,” Mech. Machine Theory 40, 1224–1239 (2005).CrossRefGoogle Scholar
13.Gaikwad, J. L., Dasgupta, B. and Joshi, U., “Static equilibrium analysis of compliant mechanical systems using relative coordinates and loop closure equations,” Mech. Machine Theory 39, 501–517 (2004).CrossRefGoogle Scholar
14.Ceccarelli, M. and Carbone, G., “A stiffness analysis for CaPaMan (Cassino Parallel Manipulator),” Mech. Machine Theory 37, 427–439 (2002).CrossRefGoogle Scholar
15.Carbone, G. and Ceccarelli, M., “A stiffness analysis for a hybrid parallel-serial manipulator,” Robotica 22, 567–576 (2004).CrossRefGoogle Scholar
16.Simaan, N. and Shoham, M., “Stiffness synthesis of a variable geometry six-degrees-of-freedom double planar parallel robot,” Int. J. Robot. Res. 22 (9), 575–775 (Sep. 2003).CrossRefGoogle Scholar
17.Zhang, D., “On stiffness improvement of the Tricept machine tool,” Robotica 23, 377–386 (2005).CrossRefGoogle Scholar
18.Affi, Z., Romdhane, L. and Maalej, A., “Dimensional syntheses of a 3-DOF in-parallel manipulator for a desired workspace,” Eur. J. Mech. A/Solid 23, 311–324 (2004).CrossRefGoogle Scholar