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TECHNICAL PAPERS

Error Model and Accuracy Analysis of a Six-DOF Stewart Platform

[+] Author and Article Information
Shih-Ming Wang

Department of Mechanical Engineering, Chung-Yuan Christian University, Chung Li, Taiwan

Kornel F. Ehmann

Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208-3111

J. Manuf. Sci. Eng 124(2), 286-295 (Apr 29, 2002) (10 pages) doi:10.1115/1.1445148 History: Received July 01, 1999; Revised June 01, 2001; Online April 29, 2002
Copyright © 2002 by ASME
Topics: Errors , Actuators
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References

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Sugimoto,  Koichi, 1986, “Kinematic and Dynamic Analysis of Parallel Manipulators by Means of Motor Algebra,” ASME J. Mech., Transm., Autom. Des., 86-DET-139 , pp. 1–5.
Fichter,  E. F., 1986, “A Stewart Platform-Based Manipulator General Theory and Practical Construction,” Int. J. Robot. Res., 5 (2), pp. 165–190.
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Wang,  S. M., and Ehmann,  K. F., 1999, “Measurement Methods for the Position Errors of a Multi-Axis Machine—Part I: Principle and Sensitivity Analysis,” Int. J. Mach. Tools Manuf., 39, pp. 951–964.
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Masory, O., Wang, J., and Zhuang, H., 1993, “On the Accuracy of a Stewart Platform—Part II Kinematic Compensation and Calibration, Procedings, 1993 International Conference on Robotics and Automation, Vol. 1, pp. 725–731.
Zhuang,  H., and Roth,  Z. S., 1993, “Method for Kinematic Calibration of Stewart Platforms,” J. Rob. Syst., 10, No. 3, pp. 391–405.
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Figures

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The kinematic arrangement of a Stewart platform
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The one degree of freedom actuator
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Position error difference between first and second order error models
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Variation of position error difference w. r. t. total length errors at (−500,−500,3220), (−300,−300,−2820) and (−100,−100,−2620) mm
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Variation of position error difference w. r. t. total length errors at (−50,−50,322), (−30,−30,−282) and (−10,−10,−262) mm
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Inaccurate region in the workspace of the Stewart platform, Rmax=25 μm
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Position error distribution at z=−2220 and −3095 mm
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Sensitivities in x-, y- and z- direction w. r. t. length error component in x- direction of actuator #1 at z=−2820 mm
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Sensitivities in x-, y- and z- direction w. r. t. length error component in y- direction of actuator #1 at z=−2820 mm
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Sensitivities in x-, y- and z- direction w. r. t. length error component in z- direction of actuator #1 at z=−2820 mm

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