Manufacturing and assembly (geometric) errors affect the positioning precision of manipulators. In six degrees-of-freedom (6DOF) manipulators, geometric error effects can be compensated through suitable calibration procedures. This, in general, is not possible in lower-mobility manipulators. Thus, methods that evaluate such effects must be implemented at the design stage to determine both which workspace region is less affected by these errors and which dimensional tolerances must be assigned to match given positioning-precision requirements. In the literature, such evaluations are mainly tailored on particular architectures, and the proposed techniques are difficult to extend. Here, a general discussion on how to take into account geometric error effects is presented together with a general method to solve this design problem. The proposed method can be applied to any nonoverconstrained architecture. Eventually, as a case study, the method is applied to the analysis of the geometric error effects of the translational parallel manipulator (TPM) Triflex-II.
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December 2016
Research-Article
Geometric Error Effects on Manipulators' Positioning Precision: A General Analysis and Evaluation Method
Henrique Simas,
Henrique Simas
Raul Guenther Laboratory of Applied Robotics,
Department of Mechanical Engineering,
Federal University of Santa Catarina,
Florianópolis, SC 88040-900, Brazil
e-mail: henrique.simas@ufsc.br
Department of Mechanical Engineering,
Federal University of Santa Catarina,
Florianópolis, SC 88040-900, Brazil
e-mail: henrique.simas@ufsc.br
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Raffaele Di Gregorio
Raffaele Di Gregorio
Department of Engineering,
University of Ferrara,
Via Saragat, 1,
Ferrara 44100, Italy
e-mail: rdigregorio@ing.unife.it
University of Ferrara,
Via Saragat, 1,
Ferrara 44100, Italy
e-mail: rdigregorio@ing.unife.it
Search for other works by this author on:
Henrique Simas
Raul Guenther Laboratory of Applied Robotics,
Department of Mechanical Engineering,
Federal University of Santa Catarina,
Florianópolis, SC 88040-900, Brazil
e-mail: henrique.simas@ufsc.br
Department of Mechanical Engineering,
Federal University of Santa Catarina,
Florianópolis, SC 88040-900, Brazil
e-mail: henrique.simas@ufsc.br
Raffaele Di Gregorio
Department of Engineering,
University of Ferrara,
Via Saragat, 1,
Ferrara 44100, Italy
e-mail: rdigregorio@ing.unife.it
University of Ferrara,
Via Saragat, 1,
Ferrara 44100, Italy
e-mail: rdigregorio@ing.unife.it
1Corresponding author.
Manuscript received February 28, 2016; final manuscript received August 15, 2016; published online October 6, 2016. Assoc. Editor: Leila Notash.
J. Mechanisms Robotics. Dec 2016, 8(6): 061016 (10 pages)
Published Online: October 6, 2016
Article history
Received:
February 28, 2016
Revised:
August 15, 2016
Citation
Simas, H., and Di Gregorio, R. (October 6, 2016). "Geometric Error Effects on Manipulators' Positioning Precision: A General Analysis and Evaluation Method." ASME. J. Mechanisms Robotics. December 2016; 8(6): 061016. https://doi.org/10.1115/1.4034577
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