Positioning Accuracy Analysis of the Parallel Mechanism Near Singular Positions

J. Bałchanowski

doi:10.1515/ijame-2015-0001

1/2015 vol. 20

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ORIGINAL PAPER

Positioning Accuracy Analysis of the Parallel Mechanism Near Singular Positions

J. Bałchanowski ¹

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Department of Biomedical Engineering Mechatronics and Theory of Mechanisms Faculty of Mechanical Engineering Wroclaw University of Technology ul. Łukasiewicza 7/9, 50-371 Wrocław, POLAND

Online publication date: 2015-03-11

Publication date: 2015-02-01

International Journal of Applied Mechanics and Engineering 2015;20(1):5-18

DOI: https://doi.org/10.1515/ijame-2015-0001

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References (14)

KEYWORDS

clearances in the joint

parallel mechanism

singular positions

ABSTRACT

This paper presents a method of numerical modelling of parallel mechanisms with clearances in their kinematic pairs taken into account. The pairs with clearances are modelled as shape connections based on constraints in the form of contact interactions. Using the created models simulations were run to determine the positioning errors of the links in a parallel mechanism with three degrees of freedom (MR2120). In particular, the accuracy of positioning the links close to the mechanism singular configurations was studied.

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