Accuracy analysis of a spherical 3-DOF parallel underactuated robot wrist

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• 作者：Bin He ; Pengchang Zhang ; Shuangchao Hou
• 关键词：Accuracy analysis ; Underactuated mechanism ; Underactuated robot wrist ; Error analysis ; Loop incremental method
• 刊名：The International Journal of Advanced Manufacturing Technology
• 出版年：2015
• 出版时间：July 2015
• 年：2015
• 卷：79
• 期：1-4
• 页码：395-404
• 全文大小：619 KB
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• 作者单位：Bin He (1)
  Pengchang Zhang (1)
  Shuangchao Hou (1)
  
  1. Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, 149 Yanchang Rd, Shanghai, 200072, China
  
• 刊物类别：Engineering
• 刊物主题：Industrial and Production Engineering
  Production and Logistics
  Mechanical Engineering
  Computer-Aided Engineering and Design
  
• 出版者：Springer London
• ISSN：1433-3015

文摘

As an underactuated mechanism, the accuracy analysis of the spherical 3 degrees of freedom (3-DOF) parallel underactuated robot wrist becomes an important issue. However, current researches in the accuracy analysis always focus on the full-actuated mechanism. In this paper, the loop incremental method is applied to the accuracy analysis of the spherical 3-DOF parallel underactuated robot wrist. After the novel underactuated robot wrist is introduced, this paper presents the loop selection rules. According to the above rules, four loops are selected from the underactuated robot wrist. After error model of each loop is proposed, the error model of the underactuated robot wrist, including both position error and orientation error, is then established by the loop incremental method. After the accuracy analysis of the underactuated robot wrist is verified with the experiments on coordinate measuring machine, the robot wrist is then guided to be assembled with the minimum global error. The result is testified to demonstrate that the methodology is helpful for robot design.