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Original Article
Repeatability Analysis of Overconstrained Kinematic Coupling Using a Parallel-Mechanism-Equivalent Model
Jianzhong Ding
Beihang University
Corresponding Author
ORCiD: https://orcid.org/0000-0001-6333-5965
License:
This work is licensed under a CC BY 4.0 License. Read Full License
A novel method for repeatability analysis of overconstrained kinematic coupling using a parallel-mechanism-equivalent-model is proposed. An overconstrained Kelvin-type coupling with one additional support is introduced and used for method illustration. Contact forces of the overconstrained coupling under preload are computed with Moore-Penrose inverse and the deformations are obtained using the Hertz theory. The couping is equivalently modeled as a 7-SPS parallel mechanism, spherical joints of which represent the centers of the supporting balls and the contact points, respectively, and prismatic joints are used to simulate the deformations. Therefore, pose error of the coupling arisen from preload is analyzed using the well-appraised incremental method for forward kinematics analysis of parallel mechanisms. The uncertainties of the preload are discussed and a boundary-sampling method is proposed for repeatability analysis. The main contribution of this study lies in that the proposed parallel-mechanism-equivalent-model and the boundary-sampling method greatly simplify the repeatability analysis of overconstrained kinematic couplings. Finally, the proposed methods are validated by case study.
Keywords
kinematic coupling, repeatability, overconstrained mechanism, parallel mechanism
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CURRENT STATUS: Under Review
Version 1
Posted 15 Dec, 2020
No community comments so far
Reviewers invited
Invitations sent on 03 Jan, 2021
Reviewer #1 agreed
On 03 Jan, 2021
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On 08 Dec, 2020
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On 08 Dec, 2020
Editor invited
On 08 Dec, 2020
First submitted
On 06 Dec, 2020
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Subject Areas
Mechanical Engineering
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This preprint is under consideration at Chinese Journal of Mechanical Engineering. A preprint is a preliminary version of a manuscript that has not completed peer review at a journal. Research Square does not conduct peer review prior to posting preprints. The posting of a preprint on this server should not be interpreted as an endorsement of its validity or suitability for dissemination as established information or for guiding clinical practice.
Learn more about In Review
Original Article
Repeatability Analysis of Overconstrained Kinematic Coupling Using a Parallel-Mechanism-Equivalent Model
Jianzhong Ding
Beihang University
Corresponding Author
ORCiD: https://orcid.org/0000-0001-6333-5965
Badges
Prescreen
This manuscript passed our Prescreen assessment
Complete author information
Appropriate declaration statements
Potential risks to human health
Prescreen
Peer Review Timeline
CURRENT STATUS: Under Review
Version 1
Posted 15 Dec, 2020
No community comments so far
Reviewers invited
Invitations sent on 03 Jan, 2021
Reviewer #1 agreed
On 03 Jan, 2021
Editor assigned
On 08 Dec, 2020
Submission checks complete
On 08 Dec, 2020
Editor invited
On 08 Dec, 2020
First submitted
On 06 Dec, 2020
Metrics
Comments: 0
PDF Downloads: ...
HTML Views: ...
Subject Areas
Mechanical Engineering
License:
This work is licensed under a CC BY 4.0 License. Read Full License
A novel method for repeatability analysis of overconstrained kinematic coupling using a parallel-mechanism-equivalent-model is proposed. An overconstrained Kelvin-type coupling with one additional support is introduced and used for method illustration. Contact forces of the overconstrained coupling under preload are computed with Moore-Penrose inverse and the deformations are obtained using the Hertz theory. The couping is equivalently modeled as a 7-SPS parallel mechanism, spherical joints of which represent the centers of the supporting balls and the contact points, respectively, and prismatic joints are used to simulate the deformations. Therefore, pose error of the coupling arisen from preload is analyzed using the well-appraised incremental method for forward kinematics analysis of parallel mechanisms. The uncertainties of the preload are discussed and a boundary-sampling method is proposed for repeatability analysis. The main contribution of this study lies in that the proposed parallel-mechanism-equivalent-model and the boundary-sampling method greatly simplify the repeatability analysis of overconstrained kinematic couplings. Finally, the proposed methods are validated by case study.
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Due to technical limitations, full-text HTML conversion of this manuscript could not be completed. However, the manuscript can be downloaded and accessed as a PDF.