Abstract
In order to research kinematic reliability of 3-UPS-PU parallel mechanism, the structure and kinematics analysis were performed. Inverse kinematics equation can be derived by homogeneous coordinate transformation formula. Position and orientation output error forward kinematics model was obtained by the differential transformation on the basis of inverse kinematic solution of the position. The curves of the position and orientation output errors can be plotted with a large batch production by adopting Monte-Carlo simulation method. Then kinematic reliability of the mechanism can be solved through the probability statistics method and theoretical solution method respectively. Finally, these two methods were compared with each other. The results illustrate that the results of the two methods are basically consistent, and the mechanism can be work reliably and stably under general operations, which provides some valuable references for the related future research.
Highlights
Kinematic reliability is one of the important indices to evaluate mechanism performance
The kinematic reliability can be presented by the probability, which the kinemtatic output errors are less than the maximal allowance limit error
We mainly provided a solution method of position and orientation output error and kinematic reliability with the consideration of joint point installation errors and bar length errors of the parallel mechanism [11,12,13]
Summary
Kinematic reliability is one of the important indices to evaluate mechanism performance. The kinematic trajectory of the moving platform will deviate its theoretical design result considering some inevitable errors in design and manufacturing process, and some amount of wear after the parallel mechanism usage for a long time. Once this deviation exceeds the allowance limit value, it will lead to the kinematic accuracy of the mechanism to be invalid. Wang conducted the research on the accuracy of hybrid assembly robot mechanism which is employed to national thermonuclear experimental reactor, and performed the simulation analysis of the position and orientation errors [5]. We can compare the calculation results with these two kinds of method
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