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Conference Paper: Kinematics optimization for high positioning accuracy of a 4-DOF parallel manipulator for semiconductor applications
Title | Kinematics optimization for high positioning accuracy of a 4-DOF parallel manipulator for semiconductor applications |
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Authors | |
Keywords | Parallel Manipulator Kinematics Optimization |
Issue Date | 2003 |
Publisher | IEEE. |
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? |
Abstract | The 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 Identifier | http://hdl.handle.net/10722/46476 |
DC Field | Value | Language |
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dc.contributor.author | Cheung, WFJ | en_HK |
dc.contributor.author | Hung, YS | en_HK |
dc.date.accessioned | 2007-10-30T06:50:41Z | - |
dc.date.available | 2007-10-30T06:50:41Z | - |
dc.date.issued | 2003 | en_HK |
dc.identifier.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 | en_HK |
dc.identifier.uri | http://hdl.handle.net/10722/46476 | - |
dc.description.abstract | The 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.extent | 518961 bytes | - |
dc.format.extent | 2762 bytes | - |
dc.format.mimetype | application/pdf | - |
dc.format.mimetype | text/plain | - |
dc.language | eng | en_HK |
dc.publisher | IEEE. | en_HK |
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. | - |
dc.subject | Parallel Manipulator | en_HK |
dc.subject | Kinematics | en_HK |
dc.subject | Optimization | en_HK |
dc.title | Kinematics optimization for high positioning accuracy of a 4-DOF parallel manipulator for semiconductor applications | en_HK |
dc.type | Conference_Paper | en_HK |
dc.description.nature | published_or_final_version | en_HK |
dc.identifier.doi | 10.1109/AIM.2003.1225523 | en_HK |
dc.identifier.scopus | eid_2-s2.0-27644454335 | - |
dc.identifier.hkuros | 91720 | - |