Kinematic Reliability Analysis of 3-PSS manipulator based on the explicit solution and design of experiment method

Document Type : Research Article

Authors

1 دانشگاه صنعتی امیرکبیر، دانشکده مهندسی مکانیک

2 دانشگاه صنعتی امیرکبیر

3 صنعتی امیرکبیر*مهندسی مکانیک

Abstract

This paper aims at the kinematic reliability analysis of the 3-PSS parallel robot. Parallel manipulators bear many advantages like higher stiffness, more accuracy, and speed compared to the serial counterparts. Because of several uncertainty factors such as actuators error, links flexibility, etc. a robot moving platform cannot follow the desired trajectory without an error. In this study, at first, eight, and next twelve uncertainties that seem to affect the kinematics of robot are selected. Next, the probability distribution of the moving platform position is conducted using the closed-form kinematic relation of a robot and the Monte Carlo Simulation, then, the kinematic reliability is calculated for different levels of accuracy. As the closed-form kinematic relation between the actuators rate and the moving platform position cannot be obtained, a polynomial algebraic equation is fitted via the design of experiments method. Using fitted polynomial kinematic equation at hand, the reliability analysis is conducted and evaluated for different levels of accuracy. Also, an experimental reliability analysis is performed to evaluate the results which are obtained numerically. The results show that the difference between the reliability values obtained by the design of experiments and the Monte Carlo Simulation methods is %4.7, and between the design of experiments method and experimental data is %7.7. In the end, a sensitivity analysis is conducted to determine the influence of each uncertainty on the accuracy.  

Keywords

Main Subjects


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