Mechanism Design and Error Analysis of a Parallel-type Force-interactive Manipulator with Constant Jacobian

doi:10.3901/JME.2025.21.249

Abstract

Abstract: To enhance the force feedback and presence in haptic interaction manipulators, this study proposes the application of a 3-PRRR parallel mechanism with a constant Jacobian matrix to the manipulator’s configuration design. Based on screw theory, the degrees of freedom of the mechanism are determined, and the Jacobian matrix is calculated using the constraint wrench of the mechanism. The initial position of the operating platform is obtained through the geometric equations of the mechanism, leading to the derivation of the forward kinematics expressions. Subsequently, a prototype is developed to verify the constant Jacobian characteristics of the mechanism. During the error measurement experiments on the prototype, a position error model of the manipulator is established. Furthermore, measurements of motor thrust indicate a linear relationship between thrust and input beyond a certain threshold. Analysis of angular errors reveals that the overall error level is satisfactory, with a mean value within 1°. The experiments validate the correctness of the proposed theory and highlight potential directions for future optimization.

Key words: constant Jacobian matrix, force-interactive manipulator, prototype development, error analysis

CLC Number:

TH112

JIN Zhaopeng, ZHAO Yanzhi, LIU Yajun, SUN Yue, ZHAO Hongfei. Mechanism Design and Error Analysis of a Parallel-type Force-interactive Manipulator with Constant Jacobian[J]. Journal of Mechanical Engineering, 2025, 61(21): 249-258.

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