Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine
Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine作者机构：Department of Mechanical Engineering G.V.E College of Engineering Visakhapatnam 530048 India
出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)
年 卷 期：2014年第9卷第2期
页 面：120-129页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
主 题：translational Parallel Kinematic Machine error modeling global error transformation index
摘 要：In this paper, error modeling and analysis of a typical 3-degree of freedom translational Parallel Kine- matic Machine is presented. This mechanism provides translational motion along the Cartesian X-, Y- and Z- axes. It consists of three limbs each having an arm and forearm with prismatic-revolute-revolute-revolute joints. The moving or tool platform maintains same orientation in the entire workspace due to its joint arrangement. From inverse kinematics, the joint angles for a given position of tool platform necessary for the error modeling and analysis are obtained. Error modeling is done based on the differentiation of the inverse kinematic equations. Variation of pose errors along X, Y and Z directions for a set of dimensions of the parallel kinematic machine is presented. A non-dimensional performance index, namely, global error transformation index is used to study the influence of dimensions and its corresponding global maximum pose error is reported. An attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithms in MATLAB. The methodology presented and the results obtained are useful for predicting the performance capability of the Parallel Kinematic Machine under study.
维普期刊数据库