This paper presents a comprehensive methodology for ensuring the geometric pose accuracy of a 4DOF high-speed pick-and-place parallel robot having an articulated traveling plate. The process is implemented by four steps: (1) formulation of the error model containing all possible geometric source errors; (2) tolerance design of the source errors affecting the uncompensatable pose accuracy via sensitivity analysis; (3) identification of the source errors affecting the compensatable pose accuracy via a simplified model and distance measurements; and (4) development of a linearized error compensator for real-time implementation. Experimental results show that a tilt angular accuracy of 0.1/100 and a volumetric/rotational accuracy of 0.5 mm/±0.8 deg of the end-effector can be achieved over the cylindrical task workspace.
Tolerance Design and Kinematic Calibration of a Four-Degrees-of-Freedom Pick-and-Place Parallel Robot
Manuscript received April 6, 2016; final manuscript received August 15, 2016; published online October 11, 2016. Assoc. Editor: Leila Notash.
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Huang, T., Bai, P., Mei, J., and Chetwynd, D. G. (October 11, 2016). "Tolerance Design and Kinematic Calibration of a Four-Degrees-of-Freedom Pick-and-Place Parallel Robot." ASME. J. Mechanisms Robotics. December 2016; 8(6): 061018. https://doi.org/10.1115/1.4034788
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