Research Papers

Tolerance Design and Kinematic Calibration of a Four-Degrees-of-Freedom Pick-and-Place Parallel Robot

[+] Author and Article Information
Tian Huang

Key Laboratory of Mechanism Theory
and Equipment Design,
State Ministry of Education,
Tianjin University,
92 Weijin Road,
Nankai District,
Tianjin 300072, China
e-mail: tianhuang@tju.edu.cn

Pujun Bai

Key Laboratory of Mechanism Theory
and Equipment Design,
State Ministry of Education,
Tianjin University,
92 Weijin Road,
Nankai District,
Tianjin 300072, China
e-mail: baipujun@tju.edu.cn

Jiangping Mei

Key Laboratory of Mechanism Theory
and Equipment Design,
State Ministry of Education,
Tianjin University,
92 Weijin Road,
Nankai District,
Tianjin 300072, China
e-mail: ppm@tju.edu.cn

Derek G. Chetwynd

School of Engineering,
The University of Warwick,
Coventry CV4 7AL, UK
e-mail: d.g.chetwynd@warwick.ac.uk

1Corresponding author.

Manuscript received April 6, 2016; final manuscript received August 15, 2016; published online October 11, 2016. Assoc. Editor: Leila Notash.

J. Mechanisms Robotics 8(6), 061018 (Oct 11, 2016) (9 pages) Paper No: JMR-16-1092; doi: 10.1115/1.4034788 History: Received April 06, 2016; Revised August 15, 2016

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.

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Grahic Jump Location
Fig. 2

A computer-aided design model and kinematic diagram of the parallel robot with articulated traveling plate

Grahic Jump Location
Fig. 1

Roadmap for ensuring the geometric pose accuracy of the lower mobility robotic systems

Grahic Jump Location
Fig. 3

A simplified model for kinematic calibration

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Fig. 4

The experiment setup

Grahic Jump Location
Fig. 5

The global sensitivities of σ(εθ) versus σ(Δpε,k)

Grahic Jump Location
Fig. 6

Distributions of εθ in the bottom layer of the workspace

Grahic Jump Location
Fig. 7

The variations of O2 versus n in the rough calibration

Grahic Jump Location
Fig. 8

The variations of O2 versus n in the fine calibration

Grahic Jump Location
Fig. 9

Pose error distributions across the corresponding layer of the workspace after fine calibration: (a) the absolute distance error in the bottom layer, (b) the volumetric error in the bottom layer, and (c) the absolute rotational error about the z axis in the top layer




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