Precision Design and Kinematics Calibration of 5-PUS-RPUR Parallel Mechanism

doi:10.3901/JME.2025.09.292

Abstract

Abstract: Because of the complex structure of 5-DOF parallel mechanism, there are a lot of geometric errors in the manufacturing and assembly process, which seriously affect the motion accuracy. Based on the 5-PUS-RPUR parallel mechanism as the research object, the precision design and kinematic calibration are used to improve the motion accuracy of the end-effector. Firstly, an error mapping model considering PUS branched-chain Hooke joints and ball joints is established, and compensable error sources and uncompensable error sources are separated. Then quantum particle swarm optimization algorithm is used to assign the uncompensable error sources, and the tolerance range results are verified by Monte Carlo simulation method, and the kinematic calibration correction can compensate the error to improve the kinematic precision of the parallel mechanism. The experimental results show that the average error of the parallel platform moving to the 16 groups of measuring points is reduced from x=5.256mm, y=3.906mm, z=14.337mm, α= 6.887°, β= 2.817° before calibration to: x=2.681 mm, y=1.981 mm, z=8.250 mm, α=4.079°, β=1.280°, the motion accuracy of the parallel mechanism along each degree of freedom has been significantly improved, which verifies the validity of the precision design and kinematics calibration algorithm.

Key words: 5-PUS-RPUR parallel mechanism, error analysis, precision design, kinematic calibration

CLC Number:

TG156

SUN Peng, GAO Yujun, FENG Shaojiang, YE Jiaming, LI Yanbiao. Precision Design and Kinematics Calibration of 5-PUS-RPUR Parallel Mechanism[J]. Journal of Mechanical Engineering, 2025, 61(9): 292-301.

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