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Clearance, Manufacturing Errors Effects on the Accuracy of the 3-RCC Spherical Parallel Manipulators

  • A. Chaker
  • A. Mlika
  • M. A. Laribi
  • L. Romdhane
  • S. Zeghloul
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

This paper deals with the analysis of a spherical parallel manipulator (3RCC) to determine the error on the pose of the end effector as a function of the manufacturing errors of the different links and the presence of a clearance in the joints. The obtained model allowed us to identify the error on the platform in three cases, i.e., only manufacturing errors were considered, then only clearance in the joints was considered and finally the case of both sources of error were present in the system. It was shown, in particular, that the axial displacement in the C joints is quite important. The second result is the fact that the superposition principle does not work when we consider both the manufacturing errors and the clearance despite the assumption of small displacements.

Keywords

Parallel Manipulator Small Displacement Axial Displacement Revolute Joint Parallel Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • A. Chaker
    • 1
  • A. Mlika
    • 1
  • M. A. Laribi
    • 2
  • L. Romdhane
    • 1
  • S. Zeghloul
    • 2
  1. 1.Laboratoire de Mécanique de SousseUniversité de Sousse - Ecole Nationale d’Ingénieurs de SousseSousse-ErriadhTunisia
  2. 2.Institut PPRIMECNRS-Université de Poitiers - ENSMAFuturoscope ChasseneuilFrance

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