文档介绍：Available online at hanism
and
Machine Theory
Mechanism and Machine Theory 43 (2008) 364–375
ate/mechmt
Geometric approach to the accuracy analysis of a class
of 3-DOF planar parallel robots
Alexander Yu a, Ilian A. Bonev b,*, Paul Zsombor-Murray a
a Department of Mechanical Engineering, McGill University, 817 Sherbrooke ., Montreal, Canada H3A 2K6
b Department of Automated Manufacturing Engineering, E´ cole de technologie supe´rieure (E´ TS),
1100 Notre-Dame ., Montreal, Quebec, Canada H3C 1K3
Received 12 June 2006; received in revised form 11 December 2006; accepted 16 March 2007
Available online 3 May 2007
Abstract
Parallel robots are increasingly being used in industry for precise positioning and alignment. They have the advantage
of being rigid, quick, and accurate. With their increasing es a need to develop a methodology pare different
parallel robot designs. However no simple method exists to pare the accuracy of parallel robots. Certain
indices have been used in the past such as dexterity, manipulability and global conditioning index, but none of them works
perfectly when a robot has translational and rotational degrees of freedom. In a direct response to these problems, this
paper presents a simple geometric approach puting the exact local maximum position error and local maximum
orientation error, given actuator uracies. This approach works for a class of three-degree-of-freedom planar fully-par-
allel robots whose maximal workspace is bounded by circular arcs and line segments and is free of singularities. The
approach is illustrated on three particular designs.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Parallel robots; Dexterity map; Workspace; Positioning; Accuracy; Error analysis
1. Introduction
Parallel robots which were once constructed solely in academic laboratories have increasingly been used in
industry for positioning and alignment in recent years. With such demand in the market today for