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2021 | OriginalPaper | Buchkapitel

Kinematic Error Modeling of a Parallelogram Arm of the Delta Robot and Its Dimensional Optimization

verfasst von : Venkata Sai Prathyush Idumudi, Arshad Javed

Erschienen in: Advances in Industrial Machines and Mechanisms

Verlag: Springer Singapore

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Abstract

Delta robots are a subset of a class of robots called parallel robots. These are widely used in pick-and-place and assembly tasks involving high motion accuracy. The basic idea for the design is the development of parallelogram structures attached to the output platform. Three such parallelogram mechanisms are used to ensure that the orientation of the moving platform is restricted to only translational motion relative to the base. This paper aims to improve the robot’s motion accuracy by performing a study on the parallelism error and verify its influence on accuracy. Previous studies on the error analysis in the motion of Delta robots mainly consider dimensional tolerance, joint clearance and driving error of each component, mainly focusing on the position error of the moving platform. However, the analysis of the parallelogram arm is also equally important to ensure minimum posture error to reduce the pose error(orientation + position) of the mobile platform. Any posture error in the mechanism results in the posture error of the moving platform. This article approaches to reduce this posture error by considering the main influencing factors-length error in the connecting rods and joint errors in the parallelogram mechanism. The work is divided into two sections. The first section deals with the kinematic analysis and estimation of optimum dimensions. The second section deals with the error analysis using the kinematic approach. This section also relates the errors of pose and structural types. And, due to its analytical nature, this error model can be used for sensitivity analysis to further enhance manipulator accuracy.

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Literatur
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Zurück zum Zitat Li, Y., Shang, D., Fan, X., Liu, Y.: Motion reliability analysis of the delta parallel robot considering mechanism errors. Math. Probl. Eng. (2019) Li, Y., Shang, D., Fan, X., Liu, Y.: Motion reliability analysis of the delta parallel robot considering mechanism errors. Math. Probl. Eng. (2019)
2.
Zurück zum Zitat Chouaibi, Y., Chebbi, A.H., Affi, Z., Romdhane, L.: Analytical modeling and analysis of the clearance induced orientation error of the RAF translational parallel manipulator. Robotica 34(8), 1898–1921 (2016)CrossRef Chouaibi, Y., Chebbi, A.H., Affi, Z., Romdhane, L.: Analytical modeling and analysis of the clearance induced orientation error of the RAF translational parallel manipulator. Robotica 34(8), 1898–1921 (2016)CrossRef
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Zurück zum Zitat Xu, D.T.: Kinematic reliability and sensitivity analysis of themodified delta parallelmechanism. Int. J .Adv. Robot. Syst. 15(1), 1–8 (2018) Xu, D.T.: Kinematic reliability and sensitivity analysis of themodified delta parallelmechanism. Int. J .Adv. Robot. Syst. 15(1), 1–8 (2018)
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Zurück zum Zitat Li Y., Shang, D., Liu, Y.: Kinematic modeling and error analysis of Delta robot considering parallelism error. Int. J .Adv. Robot. Syst. 16(5) (2019) Li Y., Shang, D., Liu, Y.: Kinematic modeling and error analysis of Delta robot considering parallelism error. Int. J .Adv. Robot. Syst. 16(5) (2019)
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Zurück zum Zitat Meng, J., et al.: . Accuracy analysis of general parallel manipulators with joint clearance. In: Proceedings 2007 IEEE International Conference on Robotics and Automation, pp. 889–894. Roma (2007). (10–14 Avril) Meng, J., et al.: . Accuracy analysis of general parallel manipulators with joint clearance. In: Proceedings 2007 IEEE International Conference on Robotics and Automation, pp. 889–894. Roma (2007). (10–14 Avril)
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Zurück zum Zitat Kelaiaia, R., Company, O., Zaatri, A.: Multiobjective optimization of a linear delta parallel robot. Mech. Mach. Theorem 50, 159–178 (2012)CrossRef Kelaiaia, R., Company, O., Zaatri, A.: Multiobjective optimization of a linear delta parallel robot. Mech. Mach. Theorem 50, 159–178 (2012)CrossRef
Metadaten
Titel
Kinematic Error Modeling of a Parallelogram Arm of the Delta Robot and Its Dimensional Optimization
verfasst von
Venkata Sai Prathyush Idumudi
Arshad Javed
Copyright-Jahr
2021
Verlag
Springer Singapore
DOI
https://doi.org/10.1007/978-981-16-1769-0_13

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