Motion reliability analysis of the delta parallel robot considering mechanism errors

DOI10.1155/2019/3501921MaRDI QIDQ2298308zbMATH OpenOpenAlexWikidataFDO

Authors Yanyan Li

Publication date 20 February 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/3501921

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Review text

Summary: Delta parallel robots are widely used in assembly detection, packaging sorting, precision positioning, and other fields. With the widespread use of robots, people have increasing requirements for motion accuracy and reliability. This paper considers the influence of various mechanism errors on the motion accuracy and analyzes the motion reliability of the mechanism. Firstly, we establish a kinematic model of the robot and obtain the relationship between the position of the end effector and the structural parameters based on the improved D-H transform rule. Secondly, an error model considering the dimension error, the error of revolute joint clearance, driving error, and the error of spherical joint clearance is established. Finally, taking an actual robot as an example, the comprehensive influence of mechanism errors on motion accuracy and reliability in different directions is quantitatively analyzed. It is shown that the driving error is a key factor determining the motion accuracy and reliability. The influence of mechanism errors on motion reliability is different in different directions. The influence of mechanism errors on reliability is small in the vertical direction, while it is great in the horizontal direction. Therefore, we should strictly control the mechanism errors, especially the driving angle, to ensure the motion accuracy and reliability. This research has significance for error compensation, motion reliability analysis, and reliability prediction in robots, and the conclusions can be extended to similar mechanisms.

Recommendations

• Motion reliability assessment of robot for trajectory tracking task
• Dynamic accuracy reliability modeling and analysis of planar multi-link mechanism with revolute clearances
• Geometric approach to the accuracy analysis of a class of 3-DOF planar parallel robots
• Accuracy analysis of 3-DOF planar parallel robots
• Accuracy analysis of 3T1R fully-parallel robots

Cites work

• Direct displacement analysis of a Stewart platform mechanism.
• Prediction of the pose errors produced by joints clearance for a 3-UPU parallel robot

Cited in

(4)

• Motion reliability modeling and evaluation for manipulator path planning task
• A computational framework of kinematic accuracy reliability analysis for industrial robots
• Motion reliability assessment of robot for trajectory tracking task
• An analytical framework for local and global system kinematic reliability sensitivity of robotic manipulators

This page was built for publication: Motion reliability analysis of the delta parallel robot considering mechanism errors

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2298308)