Mathematical modelling of linear motion error for Hexarot parallel manipulators

A general methodology for motion error and motion reliability analysis of planar parallel manipulators (PPMs) with random and interval variables is presented. The inherent uncertainties of the manipulator, including tolerances in manufactures, errors in inputs as well as joint clearances are taken into account. The error model of a 3-RRR parallel manipulator is built and the global sensitivity coefficients of motion errors to variations are defined and obtained. The joint clearances are treated as interval variables while the others are treated as random variables. As a result, the motion error of the manipulator could turn out to be the mixture of a random variable and an interval variable. A new motion reliability analysis method based on the First Order Second Moment (FOSM) method and the Monte Carlo simulation (MCS) method is developed for the manipulator with random and interval variables. This paper provides a new idea to better understand the motion reliability affected by the inherent uncertainties of PPMs.

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A Method of Calculating Motion Error in a Linear Motion Bearing Stage

The Scientific World JOURNAL ◽

10.1155/2015/696417 ◽

2015 ◽

Vol 2015 ◽

pp. 1-10

Author(s):

Gyungho Khim ◽

Chun Hong Park ◽

Jeong Seok Oh

Keyword(s):

Transfer Function ◽

Function Method ◽

Linear Motion ◽

Motion Error ◽

Form Errors ◽

Transfer Function Method ◽

Reaction Forces ◽

Good Agreement

We report a method of calculating the motion error of a linear motion bearing stage. The transfer function method, which exploits reaction forces of individual bearings, is effective for estimating motion errors; however, it requires the rail-form errors. This is not suitable for a linear motion bearing stage because obtaining the rail-form errors is not straightforward. In the method described here, we use the straightness errors of a bearing block to calculate the reaction forces on the bearing block. The reaction forces were compared with those of the transfer function method. Parallelism errors between two rails were considered, and the motion errors of the linear motion bearing stage were measured and compared with the results of the calculations, revealing good agreement.

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Hierarchical error model to estimate motion error of linear motion bearing table

The International Journal of Advanced Manufacturing Technology ◽

10.1007/s00170-017-0635-0 ◽

2017 ◽

Vol 93 (5-8) ◽

pp. 1915-1927 ◽

Cited By ~ 10

Author(s):

Gaiyun He ◽

Guangming Sun ◽

Heshuai Zhang ◽

Can Huang ◽

Dawei Zhang

Keyword(s):

Error Model ◽

Linear Motion ◽

Motion Error

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Corrigendum to “Multi-objective optimization of parallel manipulators using a game algorithm” [Applied Mathematical Modelling, 74 (2019) 217–243]

Applied Mathematical Modelling ◽

10.1016/j.apm.2019.07.016 ◽

2019 ◽

Vol 76 ◽

pp. 958

Author(s):

Chao Yang ◽

Qinchuan Li ◽

Qiaohong Chen

Keyword(s):

Mathematical Modelling ◽

Parallel Manipulators ◽

Multi Objective Optimization ◽

Multi Objective

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Motion Control of Rolling Ball by Operating the Working Plate with a Dual-Arm Robot

International Journal of Automation Technology ◽

10.20965/ijat.2012.p0075 ◽

2012 ◽

Vol 6 (1) ◽

pp. 75-83 ◽

Cited By ~ 4

Author(s):

Wei Wu ◽

◽

Toshiki Hirogaki ◽

Eiichi Aoyama ◽

Keyword(s):

Rotational Motion ◽

Manufacturing Systems ◽

Present Report ◽

Circular Path ◽

Stable Operation ◽

Linear Motion ◽

Motion Error ◽

Rolling Ball ◽

Ball Rolling ◽

Dual Arm

Recently, new needs have emerged to control not only linear motion but also rotational motion in high-accuracy manufacturing fields. Many five axiscontrolled machining centers are therefore in use. However, one problem has been that it may be difficult to achieve flexible manufacturing systems by methods based on the use of these machine tools. On the other hand, industrial dual-arm robots have gained attention as new tools to control both linear motion and rotational motion accurately, in the attempt to control a working plate like a machine tool table. In the present report, cooperative dual-arm motion is demonstrated to make it feasible to perform stable operation control, such as controlling the working plate to keep a ball rolling in a circular path on it. As a result, we investigated the influence of each axis motion error on a ball-rolling path.

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