Abstract
This paper presents a volumetric error analysis and an architecture optimization method for accuracy of parallel manipulators. A comprehensive volumetric kinematic error model that relates all kinematic error sources in the manipulator’s architecture to the pose errors of the end-effector is derived for HexaSlide ( P US) type parallel manipulators. The error model results in the total error transformation matrix from which three error amplification factors are derived and used as design criteria for accuracy in the optimum design formulation with constraints on workspace and design variable limits. Then, design optimization for accuracy has been performed by using a nonlinear optimization technique. Optimization results have been validated by Monte Carlo statistical simulation technique.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
