Error model and geometric error sensitivity simulation of new 2UPR/UPS/UP mechanism

CHEN Weijie; YUE Yi; WEI Baochen; CUI Guohua; PAN Ying; CHEN Wenbo

doi:10.12299/jsues.22-0034

Volume 36 Issue 4

Dec. 2022

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Article Navigation > Journal of Shanghai University of Engineering Science > 2022 > 36(4): 383-391

CHEN Weijie, YUE Yi, WEI Baochen, CUI Guohua, PAN Ying, CHEN Wenbo. Error model and geometric error sensitivity simulation of new 2UPR/UPS/UP mechanism[J]. Journal of Shanghai University of Engineering Science, 2022, 36(4): 383-391. doi: 10.12299/jsues.22-0034

Citation:

CHEN Weijie, YUE Yi, WEI Baochen, CUI Guohua, PAN Ying, CHEN Wenbo. Error model and geometric error sensitivity simulation of new 2UPR/UPS/UP mechanism[J]. Journal of Shanghai University of Engineering Science, 2022, 36(4): 383-391. doi: 10.12299/jsues.22-0034

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Error model and geometric error sensitivity simulation of new 2UPR/UPS/UP mechanism

doi: 10.12299/jsues.22-0034

School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Received Date: 2022-02-23
Publish Date: 2022-12-30

Abstract

Abstract

The analytical inverse solution of 2UPR/UPS/UP+AC pendulum hybrid mechanism was derived. With 2UPR/UPS/UP mechanism as the research object, the single-joint error model and branched-chain error model were systematically expounded , and the related geometric error sources were given. The error mapping models among the passive error, the pose error of the moving platform and the error sources of the motion pairs of each branch chain were established, and the error sensitivity of the error sources of each motion pair was simulated based on the mechanism error model. The research results can provide theoretical support for motion error distribution and precision design of 5-DOF hybrid robot engineering design based on 2UPR/UPS/UP parallel mechanism, as well as reference for error modeling and sensitivity analysis of other hybrid mechanisms and parallel mechanisms.
- 5-DOF hybrid robot,
- parallel mechanism,
- error model,
- error sensitivity analysis,
- passive error

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References(24)

References

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