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Technical Brief

Validation Process of Pose Accuracy Estimation in Parallel Robots

[+] Author and Article Information
J. C. Jáuregui-Correa

Mem. ASME
Facultad de Ingeniería,
Univ. Aut. de Querétaro,
Cerro las Campanas s/n,
Querétaro, QRO 76010, Mexico
e-mail: jc.jauregui@uaq.mx

C. S. López-Cajún

Facultad de Ingeniería,
Univ. Aut. de Querétaro,
Cerro las Campanas s/n,
Querétaro, QRO 76010, Mexico
e-mail: cajun@uaq.mx

A. García-Arredondo

CIATEQ-AGS,
Circuito Aguascalientes Nte. 135,
Parque Ind. del Valle de Aguascalientes,
20358 Sn. Fco. De los Romos, AGS., México
e-mail: a.garcia@ciateq.mx

E. E. Hernández-Martínez

Sección de Estudios de Posgrado e Investigación ESIME-UPT,
Instituto Politécnico Nacional,
Av. Ticomán 600,
Ciudad de México, 07340, México
e-mail: euhernandezm@ipn.mx

M. Ceccarelli

Fellow ASME
LARM: Laboratory of Robotics and Mechatronics,
DICeM; University of Cassino and South Latium,
Via Di Biasio 43, 03043 Cassino (Fr), Italy
e-mail: ceccarelli@unicas.it

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received March 30, 2014; final manuscript received November 20, 2014; published online January 27, 2015. Assoc. Editor: Heikki Handroos.

J. Dyn. Sys., Meas., Control 137(6), 064503 (Jun 01, 2015) (4 pages) Paper No: DS-14-1146; doi: 10.1115/1.4029346 History: Received March 30, 2014; Revised November 20, 2014; Online January 27, 2015

This research ponders the origin of errors due to manufacturing and assembling processes that affect pose accuracy of any given robot. The estimation of these errors allows designers to define the influence of individual elements in the overall compliance. Two methods for assessing pose accuracy in parallel robots are presented in this paper: the simplified and the comprehensive methods. The former, based on the assumption that each actuator has a constant error, produces a preliminary rough estimation of pose accuracy; the latter, based on error propagation, requires the measurement of the displacement error of each actuator. Both methods were applied to estimate the accuracy of a high-precision Stewart platform and to verify it experimentally. These methods were validated through an actual platform, and results showed good agreement between them.

FIGURES IN THIS ARTICLE
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Copyright © 2015 by ASME
Topics: Robots , Actuators , Errors
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References

Figures

Grahic Jump Location
Fig. 1

The actual Gough–Stewart platform

Grahic Jump Location
Fig. 2

Calibration equipment RENISHAW ML10: (1) leg, (2) laser, and (3) interferometer

Grahic Jump Location
Fig. 3

Recorded difference between commanded and actual position of an actuator

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Fig. 4

Location of the measuring points on the moving platform

Grahic Jump Location
Fig. 5

Errors comparison between the comprehensive and the simplified methods

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