A new method for the estimation of position accuracy in parallel manipulators with joint clearances by screw theory

Antonio Frisoli, Massimiliano Solazzi, Massimo Bergamasco
2008 2008 IEEE International Conference on Robotics and Automation  
This paper presents a novel method based on screw theory for the analysis of positioning accuracy in parallel manipulators with joint clearances. A general method is introduced, and a new analytical procedure is formulated which allows to determine analytically a sub-optimal estimation of the worst case condition for positioning accuracy. Moreover this procedure can determine exactly the worst-case angular accuracy in translating fully-parallel manipulators under the influence of joint
more » ... s. The relevance of the method is demonstrated by two application examples, that clearly demonstrate how kinematic properties, such as kinematic isotropy, are strictly related to position accuracy in mechanisms with joint clearances.
doi:10.1109/robot.2008.4543309 dblp:conf/icra/FrisoliSB08 fatcat:fhdmsia75fgtzluv6cbuyzfife