Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

The Effects of Design Parameters on the Mechanical Precision of an End Effector on a Parallel Kinematic Robot

병렬로봇의 설계공차 설정에 따른 기계적 정밀도의 영향 분석

  • Park, Chanhun (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kim, Doohyung (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Do, Hyunmin (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Choi, Taeyong (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Park, Dongil (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kim, Byungin (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials)
  • 박찬훈 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 김두형 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 도현민 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 최태용 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 박동일 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 김병인 (한국기계연구원 로봇메카트로닉스연구실)
  • Received : 2016.08.29
  • Accepted : 2016.09.20
  • Published : 2016.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, important design parameters for parallel kinematic robots are defined, paying special attention to machining errors which may cause kinematic errors at the end effector of a robot. The kinematic effects caused by each design parameter, as well as their upper/lower limits, are analyzed here. To do so, we have developed a novel software program to compute kinematic errors by considering its defined design parameters. With this program, roboticists designing parallel kinematic robots can understand the important design parameters for which upper/lower allowances have to be strictly controlled in the design process. This tactic can be used for the design of high-speed, parallel kinematic robots to reduce the design/manufacturing costs and increase kinematic precision.

Keywords

References

  1. R. Clavel, "Conception d'un robot parallele rapide a 4 degres de liberte," Ph.D. Thesis, EPFL, Lausanne, Switzerland, 1991.
  2. R. Clavel, "Device for the movement and positioning of an element in space," US Patent No. 4,976,582, Dec. 1990.
  3. J.-P. Merlet, Parallel Robots, Kluwer Academic Publishers, 2000.
  4. W. J. Shin and N. G. Cho, "A study on the error compensation of three-DOF translational parallel manipulator," Transactions of the Korean Society of Machine Tool Engineering, vol. 13, no. 3, pp. 44-52, Jun. 2004.
  5. K. Miller, "Modeling of dynamics and model-based control of DELTA direct-drive parallel robot," Journal of Robotics and Mechatronics, vol. 17, no. 4, pp. 344-352, 1995.
  6. S. H. Lee, "Dynamic modeling of a novel ATC mechanism based on 4-bar linkage," Journal of Institute of Control, Robotics and Systems, vol. 22, no. 4, pp. 307-314, 2016. https://doi.org/10.5302/J.ICROS.2016.15.0182
  7. X. Jin, J. Jung, J. P. Jun, S. Park, and J. O. Park, "Calibration for a Planar Cable-Driven Parallel Robot," Journal of Institute of Control, Robotics and Systems, vol. 21, no. 11, pp. 1070-1075, 2015. https://doi.org/10.5302/J.ICROS.2015.15.0097