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Analytical modeling and analysis of the clearance induced orientation error of the RAF translational parallel manipulator

Published online by Cambridge University Press:  08 December 2014

Y. Chouaibi ,
A. H. Chebbi ,
Z. Affi  and
L. Romdhane
Y. Chouaibi
Affiliation:
LGM, National Engineering School of Monastir, University of Monastir, Tunisia
A. H. Chebbi
Affiliation:
LGM, National Engineering School of Monastir, University of Monastir, Tunisia
Z. Affi*
Affiliation:
LGM, National Engineering School of Monastir, University of Monastir, Tunisia
L. Romdhane
Affiliation:
Department of Mechanical Engineering, American University of Sharjah, UAE
*
*Corresponding author. E-mail: zouhaier.affi@enim.rnu.tn
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Summary

This paper deals with the analytical modeling and the analysis of the orientation error of the RAF translator due to the clearances in the joints. This model presents the orientation error as a function of the nominal pose, the external load applied to the platform, the manipulator structural parameters, and the joints clearances. Based on this model, an algorithm is developed in order to map the pose error within a desired workspace of the manipulator. It is shown that the orientation error variation depends essentially on the parallelogram configuration of the passive legs out of its plane. The orientation error magnitude is mainly caused by the parallelogram revolute joints radial clearances. Moreover, the orientation error around the z-axis presents some discontinuities due to the contact mode change of the parallelogram revolute joints.

Keywords

Translational parallel manipulatorKinematicsStaticsJoint clearanceOrientation error
Type
Articles
Information
Robotica , Volume 34 , Issue 8 , August 2016 , pp. 1898 - 1921
Copyright
Copyright © Cambridge University Press 2014 

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