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Conference Paper: Kinematics optimization for high positioning accuracy of a 4-DOF parallel manipulator for semiconductor applications

TitleKinematics optimization for high positioning accuracy of a 4-DOF parallel manipulator for semiconductor applications
Authors
KeywordsParallel Manipulator
Kinematics
Optimization
Issue Date2003
PublisherIEEE.
Citation
IEEE / A S M E International Conference on Advanced Intelligent Mechatronics, Port Island, Kobe, Japan, 20-24 July 2003, v. 2, p. 1256-1261 How to Cite?
AbstractThe end-effector kinematics error of a manipulator is caused by variations in machining accuracy of linkages. In most manipulators, the structural design results in an error magnification from the linkage variation to the end-effector position. In this paper, an optimization approach for suppressing kinematics error magnification is considered for a 4-DOF parallel manipulator. Two objective functions are developed for characterizing the error magnification effect. The kinematic parameters are then determined by minimizing these objective functions. It is shown that the proposed approach can reduce the error magnification to such a degree that the magnification factor is reduced to close to one. This means that the end-effector kinematics error can be made to match the error tolerance allowed in the manufacturing of the linkages.
Persistent Identifierhttp://hdl.handle.net/10722/46476

 

DC FieldValueLanguage
dc.contributor.authorCheung, WFJen_HK
dc.contributor.authorHung, YSen_HK
dc.date.accessioned2007-10-30T06:50:41Z-
dc.date.available2007-10-30T06:50:41Z-
dc.date.issued2003en_HK
dc.identifier.citationIEEE / A S M E International Conference on Advanced Intelligent Mechatronics, Port Island, Kobe, Japan, 20-24 July 2003, v. 2, p. 1256-1261en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46476-
dc.description.abstractThe end-effector kinematics error of a manipulator is caused by variations in machining accuracy of linkages. In most manipulators, the structural design results in an error magnification from the linkage variation to the end-effector position. In this paper, an optimization approach for suppressing kinematics error magnification is considered for a 4-DOF parallel manipulator. Two objective functions are developed for characterizing the error magnification effect. The kinematic parameters are then determined by minimizing these objective functions. It is shown that the proposed approach can reduce the error magnification to such a degree that the magnification factor is reduced to close to one. This means that the end-effector kinematics error can be made to match the error tolerance allowed in the manufacturing of the linkages.en_HK
dc.format.extent518961 bytes-
dc.format.extent2762 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.rights©2003 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.en_HK
dc.subjectParallel Manipulatoren_HK
dc.subjectKinematicsen_HK
dc.subjectOptimizationen_HK
dc.titleKinematics optimization for high positioning accuracy of a 4-DOF parallel manipulator for semiconductor applicationsen_HK
dc.typeConference_Paperen_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/AIM.2003.1225523en_HK
dc.identifier.hkuros91720-

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