{"title":"A complete approach for error modeling based on failure of geometrical constraint and kinematic error node (KEN)","authors":"Ziyue Li, Weizhong Guo","doi":"10.1016/j.mechmachtheory.2025.105984","DOIUrl":null,"url":null,"abstract":"<div><div>This paper proposes a complete and general method for mechanism error modeling. By analyzing the mechanism of error generation, it is clarified that the root cause of mechanism errors is the failure of mechanism constraints. The concept of Kinematic Error Node (KEN) is introduced as the basic unit for mechanism error analysis, along with the fundamental principles and methods for conducting error analysis using the KEN approach. A convenient and efficient method for drawing KEN graph is provided. through which the error model of the mechanism can be obtained intuitively and concisely via simple KEN graph drawing and recursive formulas. The KEN method is used to realize the error modeling of planar 3-RRR and spatial 3-RPS manipulator, and the error sensitivity of the two mechanisms is analyzed to verify the effectiveness of this approach.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105984"},"PeriodicalIF":4.5000,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanism and Machine Theory","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0094114X25000734","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
This paper proposes a complete and general method for mechanism error modeling. By analyzing the mechanism of error generation, it is clarified that the root cause of mechanism errors is the failure of mechanism constraints. The concept of Kinematic Error Node (KEN) is introduced as the basic unit for mechanism error analysis, along with the fundamental principles and methods for conducting error analysis using the KEN approach. A convenient and efficient method for drawing KEN graph is provided. through which the error model of the mechanism can be obtained intuitively and concisely via simple KEN graph drawing and recursive formulas. The KEN method is used to realize the error modeling of planar 3-RRR and spatial 3-RPS manipulator, and the error sensitivity of the two mechanisms is analyzed to verify the effectiveness of this approach.
期刊介绍：
Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal.
The main topics are:
Design Theory and Methodology;
Haptics and Human-Machine-Interfaces;
Robotics, Mechatronics and Micro-Machines;
Mechanisms, Mechanical Transmissions and Machines;
Kinematics, Dynamics, and Control of Mechanical Systems;
Applications to Bioengineering and Molecular Chemistry
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