Conceptual design and error analysis of a cable-driven parallel robot

Robotica ◽  
2021 ◽  
pp. 1-16
Author(s):  
Jiaxuan Li ◽  
Yongjie Zhao ◽  
Qingqiong Tang ◽  
Wei Sun ◽  
Feifei Yuan ◽  
...  
Keyword(s):  
Error Analysis ◽  
Conceptual Design ◽  
Parallel Robot ◽  
Error Component ◽  
Differential Method ◽  
Error Modeling ◽  
Geometric Errors ◽  
Kinematics Analysis ◽  
Orientation Error ◽  
Base Platform

Abstract This paper develops the conceptual design and error analysis of a cable-driven parallel robot (CDPR). The earlier error analysis of CDPRs generally regarded the cable around the pulley as a center point and neglected the radius of the pulleys. In this paper, the conceptual design of a CDPR with pulleys on its base platform is performed, and an error mapping model considering the influence of radius of the pulleys for the CDPR is established through kinematics analysis and a full matrix complete differential method. Monte Carlo simulation is adopted to deal with the sensitivity analysis, which can directly describe the contribution of each error component to the total orientation error of the CDPR by virtue of the error modeling. The results show that the sensitivity coefficients of pulleys’ geometric errors and geometric errors of the cables are relatively larger, which confirms that the cable length errors and pulleys’ geometric errors should be given higher priority in design and processing.

Motion Error Analysis for A 3-DOF Parallel Robot

2012 ◽  
Vol 460 ◽  
pp. 347-350
Author(s):  
Shi Jie Hu
Keyword(s):  
Error Analysis ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Error Modeling ◽  
Kinematics Analysis ◽  
Motion Error ◽  
Clear Tendency ◽  
Structural Error

Motion accuracy is one of the key point for parallel robots. In the paper, error modeling and motion error analysis of a 3-DOF parallel robot 3-PRS has been studied in this paper. First, the 3-PRS parallel robot and its kinematics has been introduced with its kinematics analysis. Based on the reverse kinematics analysis of 3-PRS, the motion error has been modeled. Then, motion error analysis has been performed for 3-PRS. The analysis results show the clear tendency of structural error effects on the motion errors.

Precision Analysis for the 3-PRS Parallel Robot

2012 ◽  
Vol 490-495 ◽  
pp. 495-498
Author(s):  
Shi Jie Hu
Keyword(s):  
Closed Loop ◽  
Parallel Robot ◽  
Differential Method ◽  
Error Model ◽  
Vector Model ◽  
Kinematics Analysis ◽  
Precision Analysis ◽  
Position And Orientation ◽  
Forward Error

The precision analysis of a 3-PRS parallel robot with three DOFs has been studied in this paper. The 3-PRS parallel robot has been introduced with its kinematics analysis. The closed-loop vector model has been introduced. By the differential method, the mathematic error model of the position and orientation has been built. The forward error solution has been deduced including all the structural errors. Given the structural errors, the output errors of the parallel robot can be solved by the introduced model. The effect of the variation of the position and orientation of the 3-PRS on the output errors of the parallel robot have been analyzed

scholarly journals Kinematic Analysis of Three-Wire-Driven Parallel (TWDP) Robot

2011 ◽  
Vol 2-3 ◽  
pp. 302-307 ◽  
Author(s):  
Tao Yu ◽  
Qing Kai Han
Keyword(s):  
Static Analysis ◽  
Parallel Robot ◽  
Analytical Models ◽  
Kinematics Analysis ◽  
Mechanism Model ◽  
Good Movement ◽  
Dynamics And Control ◽  
Movement Stability ◽  
Simulation Results ◽  
And Control

In the paper, a novel new gravity-constrained (GC) three-wire-driven (TWD) parallel robot is proposed. With its mechanism model, three typical kinematics analytical models, including horizontal up-down motion, pitching motion and heeling motion and their corresponding simulations are given in detail. In static analysis, the change of tensions in the wires is calculated based on previous kinematics analysis. The simulation results show the robot has good movement stability. The paper can provide useful materials to study of dynamics and control on wire-driven robot.

scholarly journals A CONCEPTUAL DESIGN FOR RECONFIGURABLE ROBOTS

2011 ◽  
Author(s):  
Farhad Aghili
Keyword(s):  
Conceptual Design ◽  
Mechanical Design ◽  
Twist Angle ◽  
Kinematic Chain ◽  
Control Synthesis ◽  
Kinematics Analysis ◽  
New Paradigm ◽  
Passive Joint ◽  
Reconfigurable Robots

The paper presents a new paradigm and conceptual design for reconfigurable robots. Unlike conventional reconfigurable robots, our design doesn't achieve reconfigurability by utilizing modular joints. But the robot is equipped with passive joints, i.e. joints with no actuator or sensor, which permit changing the Denavit-Hartenberg (DV) parameters such as the arm length, and the twist angle. The passive joints are controllable when the robot forms a closed kinematic chain. Also each passive joint is equipped with a built-in brake mechanism which is normally locked but it can be released whenever changing of the parameters is required. Kinematics analysis of such a robot plus control synthesis and mechanical design of the brake mechanism are described.

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