Motion Accuracy Analysis of an Asymmetric Stewart Mechanism

doi:10.3901/JME.2024.23.063

Abstract

Abstract: The motion accuracy of a 4/2 type Stewart mechanism has been analyzed. It establishes an error model for the mechanism that takes into account bearing clearance and dimensional errors in the driving branches. The spatial distribution of pose errors of the moving platform is investigated. Sensitivity analysis of various error components in the mechanism is carried out based on the error model. Methods for determining the precision of each joint while satisfying the motion accuracy requirements of the moving platform are provided. Additionally, two precision synthesis approaches,namely sensitivity-Monte Carlo method and genetic algorithm-based method, are presented. The paper develops a static stiffness model for the mechanism, considering the combined effects of joint errors and structural deformations under different operational conditions. Comparative analysis with conventional Stewart mechanisms demonstrates its suitability for pitch conditions.The findings have significant implications for future research in precision synthesis of parallel mechanisms.

Key words: error model, sensitivity, Monte Carlo method, genetic algorithm, precision comprehensive, stiffness

CLC Number:

TP242

LIU Xiaofei, GUO Mengtao, WAN Bo, CHEN Ran, ZHAO Yongsheng. Motion Accuracy Analysis of an Asymmetric Stewart Mechanism[J]. Journal of Mechanical Engineering, 2024, 60(23): 63-75.

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