Abstract
An error model of a 2-DOF high-speed parallel manipulator is presented, which reveals the relationship between input geometric parameter errors and output pose errors. Based on this, the distribution of pose errors in the workspace is demonstrated and analyzed through numerical simulation. The influence coefficient is defined so that the effect separate geometric errors have on the pose errors of the end effector can be better compared. This would benefit guiding the manufacture and the assembly of prototypes. In addition, the structure of an improved manipulator combining the 2-DOF manipulator with a rotating mechanism is developed.
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© 2014 Springer International Publishing Switzerland
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Wei, J., Zhang, X., Mo, J., Tong, Y. (2014). Error Modeling and Simulation of a 2- DOF High-Speed Parallel Manipulator. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8918. Springer, Cham. https://doi.org/10.1007/978-3-319-13963-0_10
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DOI: https://doi.org/10.1007/978-3-319-13963-0_10
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-13962-3
Online ISBN: 978-3-319-13963-0
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