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A Systematic Approach for Accuracy Design of Lower-Mobility Parallel Mechanism

Published online by Cambridge University Press:  05 February 2020

Wenjie Tian Open the ORCID record for Wenjie Tian [Opens in a new window] ,
Ziqian Shen ,
Dongpo Lv  and
Fuwen Yin
Wenjie Tian*
Affiliation:
School of Marine Science and Technology, Tianjin University, Tianjin300072, China. E-mails: 136597810@qq.com, lvdongpo@tju.edu.cn Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin300072, China. E-mail: yinfw@tju.edu.cn
Ziqian Shen
Affiliation:
School of Marine Science and Technology, Tianjin University, Tianjin300072, China. E-mails: 136597810@qq.com, lvdongpo@tju.edu.cn
Dongpo Lv
Affiliation:
School of Marine Science and Technology, Tianjin University, Tianjin300072, China. E-mails: 136597810@qq.com, lvdongpo@tju.edu.cn
Fuwen Yin
Affiliation:
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin300072, China. E-mail: yinfw@tju.edu.cn
*
*Corresponding author. E-mail: wenjietian@tju.edu.cn
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Summary

Geometric accuracy is a critical performance factor for parallel robots, and regardless of error compensation, accuracy design or tolerance allocation is another way to ensure the pose accuracy of a robot at design stage. A general method of both geometric error modeling and accuracy design of lower-mobility parallel mechanisms is presented. First, a general approach for error modeling of lower-mobility parallel mechanism is proposed based on screw theory, and then the geometric errors affecting the compensatable and uncompensatable accuracy of the end-effector are separated using the properties of dual vector space. The pose error aroused by compensatable geometric errors can be compensated via kinematic calibration, while the uncompensatable geometric errors should be minimized during the manufacturing and assembly processes. Based on that, the tolerance allocation method is presented, giving each uncompensatable geometric error a proper tolerance by the use of reliability theory. Compared with the traditional tolerance allocation method, the advantages of the proposed method are as follows: the number of geometric errors to be allocated is greatly reduced; the results of serialized tolerance allocation can be obtained according to different reliability indices of pose accuracy of end-effector for designers to choose; on the premise of guaranteeing the same pose accuracy of end-effector, the allocated tolerances are loose and easy to realize. Finally, the proposed methods are successfully applied to an R(2-RPS&RP)&UPS lower-mobility parallel robot, and the effectiveness and practicability of the proposed method are verified.

Keywords

Lower-mobility parallel mechanismError modelingAccuracy designTolerance allocationReliability theory
Type
Articles
Information
Robotica , Volume 38 , Issue 12 , December 2020 , pp. 2173 - 2188
Copyright
Copyright © Cambridge University Press 2020

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