Modeling and Analysis of Position Accuracy Reliability of R(RPS&RP)& 2-UPS Parallel Mechanism

doi:10.3901/JME.2023.15.062

Abstract

Abstract: In order to improve the end position accuracy reliability of the parallel mechanism and to determine the influence law of each error source on the end position accuracy reliability of the mechanism, a three-degree-of-freedom R(RPS&RP)&2-UPS parallel mechanism is used to model and analyse the position accuracy reliability. The mechanism is consisted of a 1T1R planar parallel kinematic chain with one rotating sub in series and two spatial unconstrained active branch chains, and has the same motion pattern as the UP&3-UPS parallel mechanism in the famous Tricept robot. A position accuracy model considering the basic dimensional error, rod length error and joint clearance is developed, and then the reliability calculation model of position accuracy of the mechanism is proposed by using the fourth-order moment method and the Monte Carlo method respectively. An example shows that the reliability calculation results of the fourth-order moment method is very close to that of the Monte Carlo method, but the calculation cost can be greatly reduced. The fourth-order moment method is used to study the influence of each error source on the positional accuracy reliability of the mechanism. The results show that the rod length error, joint clearance and orientation are the key factors affecting the position accuracy reliability, providing a reference for the rational determination of the manufacturing and assembly errors of the R(RPS&RP)&2-UPS mechanism.

Key words: parallel mechanism, position accuracy, reliability

CLC Number:

TH112

YANG Yibo, WANG Manxin. Modeling and Analysis of Position Accuracy Reliability of R(RPS&RP)& 2-UPS Parallel Mechanism[J]. Journal of Mechanical Engineering, 2023, 59(15): 62-72.

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