Abstract
Kinematic accuracy reliability is an important performance index in the evaluation of mechanism quality. By using a 3-DOF 3-PUU parallel robot manipulator as the research object, the position and orientation error model was derived by mapping the relation between the input and output of the mechanism. Three error sensitivity indexes that evaluate the kinematic accuracy of the parallel robot manipulator were obtained by adapting the singular value decomposition of the error translation matrix. Considering the influence of controllable and uncontrollable factors on the kinematic accuracy, the mathematical model of reliability based on random probability was employed. The measurement and calculation method for the evaluation of the mechanism's kinematic reliability level was also provided. By analysing the mechanism's errors and reliability, the law of surface error sensitivity for the location and structure parameters was obtained. The kinematic reliability of the parallel robot manipulator was statistically computed on the basis of the Monte Carlo simulation method. The reliability analysis of kinematic accuracy provides a theoretical basis for design optimization and error compensation.
Highlights
The reliability analysis of the kinematic accuracy of parallel robot manipulators is important in the evaluation of mechanism performance
On the basis of the aforementioned works, the present paper focuses on analysis of the kinematic accuracy reliability of a 3-DOF parallel robot manipulator
Establishing the position and orientation error model of the moving platform terminal is necessary for analysis of the kinematic accuracy reliability of the parallel robot manip‐ ulator
Summary
The reliability analysis of the kinematic accuracy of parallel robot manipulators is important in the evaluation of mechanism performance. Ryu presented a volumetric error analysis and struc‐ tural optimization method, and established three indexes to evaluate the global error performance He per‐ formed a reliability optimization analysis of the position and orientation error of the HexaSlide parallel manipulator [4]. Li studied the kinematic accuracy reliability of a 3-DOF 3-PRR parallel manipulator based on the PZT vibration control system. On the basis of the aforementioned works, the present paper focuses on analysis of the kinematic accuracy reliability of a 3-DOF parallel robot manipulator. The parallel robot manipulator consisted of a fixed base, a moving platform, and three legs with identical kinematic structures (Figure 1). The z axis direction is upward, and the y axial direction is determined by the right-hand rule
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