Influences of constraint errors on the mobility of a 3-DOF translational parallel manipulator
نویسندگان
چکیده
The influences of geometric constraint errors on the mobility of a 3-DOF translational parallel manipulator (TPM) are discussed in this paper. It is demonstrated based on screw theory that the mobility of the TPM may vanish if there exist manufacturing and installation errors violating the constraint conditions. To avoid such a zeromobility case, the original manipulator is converted into a non-overconstrained one by adding a revolute joint in each limb. It is shown that the conversion brings no effects to the theoretical mobility and kinematics of the original TPM, but it will take effect in case of constraint errors. Moreover, the influences of geometric constraint errors on the mobility of a converted manipulator are investigated, which provides an insight into the effects of constraint errors.
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