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Article Dans Une Revue Journal of Mechanisms and Robotics Année : 2012

Error Modelling and Experimental Validation of a Planar 3-PPR Parallel Manipulator with Joint Clearances

Résumé

This paper deals with the error modelling and analysis of a 3-\underline{P}PR planar parallel manipulator with joint clearances. The kinematics and the Cartesian workspace of the manipulator are analyzed. An error model is established with considerations of both configuration errors and joint clearances. Using this model, the upper bounds and distributions of the pose errors for this manipulator are established. The results are compared with experimental measurements and show the effectiveness of the error prediction model.
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Dates et versions

hal-00832640 , version 1 (11-06-2013)

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Guanglei Wu, Bai Shaoping, Kepler Jørgen A., Stéphane Caro. Error Modelling and Experimental Validation of a Planar 3-PPR Parallel Manipulator with Joint Clearances. Journal of Mechanisms and Robotics, 2012, 4 (4), pp.041011-1-8. ⟨10.1115/1.4007487⟩. ⟨hal-00832640⟩
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