ICRA 2011 Paper Abstract


Paper WeA108.4

Shi, Jinbo (Hong Kong University of Science and Technology), Li, Zexiang (HKUST), Wu, Yuanqing (Shanghai Jiaotong University)

A New Quantitative Performance Index for Low Mobility Parallel Kinematic Manipulators' Accuracy

Scheduled for presentation during the Regular Sessions "Parallel Robots I" (WeA108), Wednesday, May 11, 2011, 09:05−09:20, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Mechanism Design of Manipulators, Parallel Robots, Kinematics


Due to the effect of joint clearance and component flexibility ( joint or link), a parallel kinematic manipulator (PKM), with proposed motion type G ⊂ SE(3), may have undesirable (or uncompensatible) pose error beyond G at the end-effector, which would cause severe accuracy performance degeneration of the PKM. As such phenomenons have been discovered and verified in many researches, we proposed a new performance index, called ”Type Error”, which could be applied to evaluate such undesirable errors. Specifically with this index, the largest translational/rotational pose error could be quantized and the worst case over the designed workspace can be predicted. A three-step method for general application is presented in details by case study of three kinds of translational PKMs.



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