کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
7179176 1467711 2018 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Structural error and friction compensation control of a 2(3PUS + S) parallel manipulator
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Structural error and friction compensation control of a 2(3PUS + S) parallel manipulator
چکیده انگلیسی
To reduce the adverse effects of structural error and joint friction on a 2(3PUS + S) parallel manipulator, studies on the compensation method are conducted. The static structural errors such as machining error and assembly error are compensated through the kinematic model which is corrected based on the error modeling. Dynamic structural error, which is caused by the elastic deformation and clearance of the joint, is related to the motion state and external load. Owing to the difficulty of calculating and identifying dynamic structural error directly, it is compensated in the working space based on the predicted posture errors of the moving platform. Regarding the friction in the artificial hip joint, thrust ball bearing and linear module, friction modeling and parameter identification are conducted, and then they are compensated through a feedforward compensation method. With the structural error and friction compensated simultaneously, a compensation control strategy for the 2(3PUS + S) parallel manipulator is designed based on the Augmented PD control method and experiments are performed. The results from the experiment indicate that the motion accuracy of the moving platform is improved through the structural error and friction compensation.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 124, June 2018, Pages 92-103
نویسندگان
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