Work

Geometric Error Modeling of 3-DOF Planar Parallel Manipulators Using Conformal Geometric Algebra

Year: 2025

Type: article

Abstract: This paper proposes a geometrically intuitive error modeling method for planar parallel mechanisms (PPMs) based on conformal geometric algebra (CGA). First, the end point of each limb is determined through rotational transformations in geometric algebra. Using this point as the center, the kinematic geometry body (KGB) of each limb is constructed. The end-effector position of the parallel mechanism is then obtained via intersection operations in CGA, while its orientation is derived by constructing the motion plane from the end points. Finally, the error model of the parallel mechanism is established through differential operations. To validate the proposed method, a kinematic calibration simulation was performed using a 3-RPR planar parallel mechanism as an example. The simulation results demonstrate a significant reduction in both position and orientation errors after calibration, indicating a substantial improvement in accuracy and verifying the correctness of the approach.

Source: Machines

DOI: 10.3390/machines13121079

Authors: Huijing Yao, Chenxin Tang, Xinxue Chai

Institutions: Anhui Polytechnic University, Zhejiang Sci-Tech University

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,896

Funders: National Natural Science Foundation of China, Anhui Polytechnic University, Natural Science Foundation of Zhejiang Province