Error Analysis of the Hybrid-Driven Based Cable-Suspended Parallel Robots
The design model of the HDCPR is described. Then, mechanics analysis and error modelling of the HDCPR is described based on the differentiation of kinematic equations. Sensitivity analysis of the HDCPR is provided. Illustrative simulation studies highligh
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Error Analysis of the Hybrid-Driven Based Cable-Suspended Parallel Robots
5.1
Preamble
The geometric error is an utmost important consideration factor when designing a machine tool or robot manipulator [1]. The actual kinematic parameters of the manipulator deviate from their nominal values, which are referred to as kinematic errors, and the kinematic errors would result in the end-effector errors if the nominal kinematics were used to estimate the position of the manipulator [2]. Due to the above problems, kinematic parameter estimation technique, and kinematic modeling and calibration is an effective way to improve the absolute accuracy of the manipulator [3–5]. On the basis of the error modeling, it is expected that the model enables the designer to clarify those errors affecting the uncompensable position errors and they thereby should be eliminated or at least minimized with the aid of sensitivity analysis [6, 7], and sensitivity analysis plays an important role in dynamic analysis of the system [8]. In this chapter aiming at a class of HDCPR, which combines the HDPM with the CPR in a way to provide a solution for moving heavy objects with high efficiency and high-performance, explicit expressions of error mapping functions in terms of position have been formulated thanks to closed loop vector chain and direct differential modeling strategy. In this investigation, a comprehensive and multifunctional error model is systematically defined to incorporate properly all possible geometric errors into a mathematic model so that it can meet the requirements for the tolerance design, assembly and kinematic calibration. Additionally, sensitivity analysis of the HDCPR is also carried out. The remainder of this chapter is organized as follows: Sect. 5.2 describes the design model of the HDCPR. Then, mechanics analysis and error modelling of the HDCPR is described based on the differentiation of kinematic equations in Sect. 5.3. Sensitivity analysis of the HDCPR is provided in Sect. 5.4. In Sect. 5.5, illustrative simulation studies highlight its performances. Finally, conclusions and future studies are summarized in Sect. 5.6. © Springer Science+Business Media Singapore 2017 B. Zi and S. Qian, Design, Analysis and Control of Cable-Suspended Parallel Robots and Its Applications, DOI 10.1007/978-981-10-1753-7_5
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5.2
Mechanism Description
Figure 5.1 presents the three-dimensional design model of the HDCPR with three translational motions. For each cable, one end is connected to the end-effector, the other one rolls through a pulley fixed on the top of the relative cable tower and then is fed into the HDPM. The HDCPR comprises of two modules: (1) the CPR consisting of three-cable tower, cable tower frame, three cables, pulley struts, pulleys, girder, cargo (i.e. end-effector); (2) three groups of HDPMs containing three-phase asynchronous motors, servomotors, reducers and double crank five-bar linkage; the asynchronous motors are connected using the pulley transmission mecha
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