Error modeling and Sensitivity Analysis of 5-DOF Parallel Tripod Head

DOI

10.2991/ameii-15.2015.264How to use a DOI?

Keywords

parallel mechanism; kinematics; error modeling; sensitivity analysis.

Abstract

Aiming at 5-dof parallel tripod head, the integrated parameter modeling of parallel mechanism with less degree of freedom is researched in this paper. Firstly, the kinematics parameters analysis of each component of 5-dof parallel mechanism is carried out and kinematics model of 5-dof mechanism is established, mathematical modeling of 5-dof mechanism error then is systematically proposed with integrated modeling method within the identical framework, which constructs the corresponding relationship between end-effector’s pose errors and geometric error and clearly discloses the influence of geometric error source on end effector’s uncontrollable errors. Finally, by the given the structure parameters, distribution rule of the uncontrollable errors coming from different height of workspace can be figured out with Monte Carlo simulation method, sensitivity analysis can then be carried out to diminish these errors. Error sensitivity represented by the Jacobin matrix shows that is extremely sensitive to . Moreover, in order to obtain the required accuracy, standard. deviation caused by is limited within0.02mm/m, tolerance of should precisely be 0.0449mm. Consequently, uncontrollable errors caused by the UPS chains of the 5-dof parallel tripod head, which can not be compensated by the theoretical method, need more stringent restrictions in manufacturing and assembly stages.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Dianfan Zhang
AU  - Jiang Hu
AU  - Yu Rong
AU  - Man Xiao
AU  - Shuhong Cheng
PY  - 2015/04
DA  - 2015/04
TI  - Error modeling and Sensitivity Analysis of 5-DOF Parallel Tripod Head
BT  - Proceedings of the International Conference on Advances in Mechanical Engineering and Industrial Informatics
PB  - Atlantis Press
SP  - 1434
EP  - 1439
SN  - 2352-5401
UR  - https://doi.org/10.2991/ameii-15.2015.264
DO  - 10.2991/ameii-15.2015.264
ID  - Zhang2015/04
ER  -