>
Fa   |   Ar   |   En
   kinematic reliability analysis of 3-pss manipulator based on the explicit solution and design of experiment method  
   
نویسنده vali amirhossein ,taghvaeipour afshin ,kamali ali ,rezaeian akbarzadeh mohsen
منبع aut journal of mechanical engineering - 2020 - دوره : 4 - شماره : 4 - صفحه:523 -534
چکیده    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.
کلیدواژه kinematic reliability analysis ,accuracy ,3-pss parallel mechanism ,mont-carlo simulation ,design of experiments
آدرس amirkabir university of technology (tehran polytechnic), department of mechanical engineering, iran, amirkabir university of technology (tehran polytechnic), department of mechanical engineering, iran, amirkabir university of technology (tehran polytechnic), department of mechanical engineering, iran, amirkabir university of technology (tehran polytechnic), department of mechanical engineering, iran
پست الکترونیکی rezaeian@aut.ac.ir
 
     
   
Authors
  
 
 

Copyright 2023
Islamic World Science Citation Center
All Rights Reserved