Abstract
A unified model is proposed for the output accuracy of open-chain manipulators in consideration of joint clearance and structural parameters. First, the operator of the finite-displacement screw matrix and the combination operation are presented. Second, the joint clearance and structural parameters are described and analyzed with screw theory. A virtual screw is established for the joint clearance and structural parameter errors. Third, a unified model is built through the adjoint transformation of Lie groups in consideration of the two effectors of the virtual screw. The error pose is decomposed into orientation and position errors, which are obtained through the virtual screw. Finally, an open-chain manipulator with six degrees of freedom is analyzed based on the proposed model. The position and orientation errors are obtained with the trajectory that provided an intuitive geometric insight into the accuracy and exact maximal position and orientation errors.
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Shuwei Qu was born in 1978 and is currently a Ph.D. candidate at the School of Mechanical Engineering, North University of China. Her research interests include robotics and mechanism theory of parallel manipulators.
Ruiqin Li was born in 1964 and is currently a Professor and Ph.D. supervisor at the School of Mechanical and Power Engineering, North University of China. She received her Ph.D. degree from Shanghai Jiao Tong University in 2004. She was a senior visiting scholar at King's College in London, UK. Her research interests include mechanism and robot theory and complex mechanical system design.
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Qu, S., Li, R., Bai, S. et al. Unified model for the output accuracy of open-chain manipulators that considers joint clearance and structural parameters. J Mech Sci Technol 32, 4925–4931 (2018). https://doi.org/10.1007/s12206-018-0940-z
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DOI: https://doi.org/10.1007/s12206-018-0940-z