Abstract
Parallel robots are increasingly used in many applications where the positioning accuracy is of great importance. Compound spherical joints (CSJ) are commonly used in lightweight and miniaturized parallel robots. The study of CSJ’s motion principle is important for the accuracy analysis of the parallel robot. In this paper, the static and dynamic geometric models of the CSJ’s structure of the 6-PUS robot are proposed, in order to explain the problem of abnormal rotation of CSJ. Analyses of the principle and influence factors of CSJ’s abnormal rotation are conducted based on models. Through analyses, the conclusion that the abnormal rotation can be weakened by increasing the angle θ, increasing the rigidity of the mechanism and working at a larger β is obtained. The orthogonal simulation study demonstrates that the proposed model can explain the cause of abnormal rotation and the analysis of influence factors is correct.
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Zeng, Q., Gao, F., Liu, J., Zhang, F., Zheng, H. (2021). Abnormal Rotation Analysis of 6-PUS Robot’s Compound Spherical Joint. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_53
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DOI: https://doi.org/10.1007/978-3-030-89134-3_53
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