Accuracy analysis of 3T1R fully-parallel robots

Accuracy analysis of 3-DOF planar parallel robots

Three-degree-of-freedom planar parallel robots are increasingly being used in applications where precision is of the utmost importance. Clearly, methods for evaluating the accuracy of these robots are therefore needed. The accuracy of well designed, manufactured, and calibrated parallel robots depends mostly on the input errors (sensor and control errors). Dexterity and other similar performanc...

Enhancing Parallel Robots Accuracy with Redundant Sensors

This paper introduces a control strategy based on redundant sensors that leads to parallel robots accuracy enhancement. The method is presented in general, then applied to a 4-dof parallel robot. Practical implementation issues, simulation results and experimental validation are addressed.

Singularity Conditions of 3T1R Parallel Manipulators with Identical Limb Structures

Jacobian, Manipulability, Condition Number and Accuracy of Parallel Robots

Parallel robots are nowadays leaving academic laboratories and are finding their way in an increasingly larger number of application fields such as telescopes, fine positioning devices, fast packaging, machine-tool, medical application. A key issue for such use is optimal design as performances of parallel robots are very sensitive to their dimensioning. Optimal design methodologies have to rel...

On the accuracy of N − 1 wire-driven parallel robots

A N−1 wire-driven parallel robot is a robot for which all the N ≥ 3 wires are connected at the same point of the platform, allowing to control the location of this point. We are interested in the positioning accuracy of such a robot. If the wires are not elastic we show that the influence on the accuracy of the co-location errors of the wire anchor points on the platform is moderate, although a...