Error Model and Accuracy Analysis of a Six-DOF Stewart Platform-Reference-Cited by-同舟云学术

Error Model and Accuracy Analysis of a Six-DOF Stewart Platform

Published:2002-04-29 Issue:2 Volume:124 Page:286-295
ISSN:1087-1357
Container-title:Journal of Manufacturing Science and Engineering
language:en
Short-container-title:

Author:

Wang Shih-Ming¹,Ehmann Kornel F.²

Affiliation:

1. Department of Mechanical Engineering, Chung-Yuan Christian University, Chung Li, Taiwan

2. Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208-3111

Abstract

Precision machining operations necessitate highly accurate, rigid, and stable machine-tool structures. In response to this need, parallel architecture machines, based on the concepts of the Stewart Platform, are emerging. In this paper, considering major inaccuracy factors related to the manufacture, geometry, and kinematics, of such machines, first and second order error models are presented, and followed by a comparative assessment of these models in conjunction with illustrative examples. Furthermore, in order to understand the character and propagation of errors of 6-DOF Stewart Platform based machine tools, sensitivity analysis is adopted to describe the contribution of each error component to the total position and orientation error of the mechanism. An automated error analysis system that computes and graphically depicts the error distributions throughout the workspace along with the results of sensitivity analysis is developed and demonstrated.

Publisher

ASME International

Subject

Industrial and Manufacturing Engineering,Computer Science Applications,Mechanical Engineering,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/manufacturingscience/article-pdf/124/2/286/5934458/286_1.pdf

Reference19 articles.

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2. Stewart, D. , 1965, “A Platform with Six Degrees of Freedom,” Proc. Inst. Mech. Eng., 180 (1), pp. 371–786.

3. Hunt, K. H., 1965, Kinematic Geometry of Mechanisms, Oxford Univ. Press, Oxford, Great Britain.

4. Hunt, K. H. , 1983, “Structural Kinematics of In-Parallel-Actuated Robot-Arms,” ASME J. Mech., Transm., Autom. Des., 105, pp. 705–712.

5. Fichter, E. F., and McDowell, E. D., 1983, “Determining the Motions of Joints on a Parallel Connection Manipulator,” Proc. 6th World Congress on Theory of Machines and Mechanisms, Wiley Eastern Ltd., New Delhi, pp. 1003–1006.

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