scholarly journals On Robust Mechanical Design of PAR2 Delta-Like Parallel Kinematic Manipulator

2021 ◽  
pp. 1-12
Author(s):  
Allaoua Brahmia ◽  
Ridha Kelaiaia ◽  
Ahmed Chemori ◽  
Olivier Company
Keyword(s):  
Sensitivity Analysis ◽  
Mechanical Design ◽  
Synthesis Method ◽  
Matrix Analysis ◽  
Deterministic Method ◽  
Tolerance Synthesis ◽  
Parallel Kinematic Manipulator ◽  
Design And Manufacturing ◽  
Parallel Kinematic ◽  
Synthesis Of Tolerances

Abstract Sensitivity analysis of manipulators aims at studying the influence of variations in its own geometric parameters on its performance. This information is useful for evaluating the position error of the end-effector as well as for the synthesis of tolerances. Indeed, the synthesis of tolerances is a very important issue in the design and manufacturing of robot manipulators. In this paper, a sequential procedure for modeling, dimensioning and tolerance synthesis of the parallel kinematic manipulator PAR2 is proposed. For optimal dimensional design, an approach based on the optimization of the workspace is proposed, taking into account several constraints; followed by a numerical matrix analysis based deterministic method for sensitivity analysis whose performance is studied in terms of accuracy. To calculate the optimal dimensional tolerances, a new tolerance synthesis method is used. The effect of geometric tolerance on accuracy is analyzed.

Web Education Portal for the Teaching of Mechanical Design and Manufacturing

2004 ◽  
pp. 237-249
Author(s):  
Didier Remond ◽  
Alexandre Toumine ◽  
Benoît Eynard ◽  
Nadège Troussier ◽  
Alain Daidie ◽  
...  
Keyword(s):  
Mechanical Design ◽  
Design And Manufacturing

Study on Kinematics Sensitivities of Folder Mechanism with Clearance

2011 ◽  
Vol 121-126 ◽  
pp. 4764-4769
Author(s):  
Ying Cai Yuan ◽  
Yan Li ◽  
Yi Ming Wang ◽  
Qiang Guo
Keyword(s):  
Sensitivity Analysis ◽  
High Velocity ◽  
High Speed ◽  
Development Trend ◽  
Matrix Analysis ◽  
Analysis Model ◽  
Design Variables ◽  
The Matrix ◽  
The Stability ◽  
Definition Of

High velocity and stability are the development trend and inevitable requirement, but the clearance would make the stability of mechanical system deceased, especially in high speed. To the folder mechanism with clearances in high velocity, combined with the definition of sensitivity and the kinematics analysis, the kinematics sensitivity analysis model is derived by the matrix analysis method. Through the sensitivity analysis model, it can be easy to get the relationship of the design variables and the mechanism’s robustness, which provides the base to design the folder mechanism in high velocity.

Error Sensitivity Analysis for Optimal Calibration of Parallel Kinematic Machines

2002 ◽  
Author(s):  
Fengfeng Xi ◽  
Marcel Verner ◽  
Chris Mechefske
Keyword(s):  
Sensitivity Analysis ◽  
Error Model ◽  
Condition Numbers ◽  
Geometric Errors ◽  
Error Sensitivity ◽  
Parallel Kinematic Machines ◽  
Parallel Kinematic ◽  
Error Sensitivity Analysis ◽  
Jacobian Inverse ◽  
Optimal Calibration

In this paper, error sensitivity analysis is discussed for the purpose of optimal calibration of parallel kinematic machines (PKMs). The idea is to find a less error sensitive area in the workspace for calibration. To do so, an error model is developed that takes into consideration all the geometric errors due to imprecision in manufacturing and assembly. Based on this error model, it is shown that the error mapping from the geometric errors to the pose error of the PKM depends on the Jacobian inverse. The Jacobian inverse would introduce spurious errors that would affect the calibration results, if used without proper care. Hence, it is suggested to select the areas in the workspace with smaller condition numbers for calibration. A case study is presented to illustrate the proposed method.

Design of a High-Speed Spherical Four-Bar Mechanism for Use in a Motion Common in Assembly Processes

2007 ◽  
Author(s):  
Andrew P. Murray ◽  
Franc¸ois Pierrot
Keyword(s):  
Sensitivity Analysis ◽  
High Speed ◽  
Mechanical Design ◽  
Degree Of Freedom ◽  
Kinematic Synthesis ◽  
Control Scheme ◽  
Smooth Motion ◽  
Spherical Mechanism

In this paper, we present the mechanical design of a spherical four-bar mechanism for performing a motion common in manufacturing and assembly processes. The mechanism is designed to create, in a single, smooth motion, the combined rotation of a body by 90 degrees about one axis with a 90 degree rotation about an axis perpendicular to the first. A spherical four-bar mechanism is pursued as the basis for the design because the reorientation is produced mechanically rather than via a control scheme typical when higher degree of freedom systems are utilized. The design initiates with the kinematic synthesis of the spherical mechanism to guide a body through two orientations. The next step in the design is to refine the spherical fourbar based on manufacturing and operational concerns. As one of the challenges of utilizing these four-bars is tuning the starting and ending angle for the mechanism’s motion, a sensitivity analysis is performed to gauge the needed accuracy. Finally, there are details and a discussion of the proposed mechanical design.

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