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<p>This paper deals with the improvement of the accuracy design of the Gough-Stewart platform. To this end, two steps are considered: the first is modelling the positioning error of the manipulator using an analytical method; In the second one, in order to determine the primary error sources of the manipulator, a new sensitivity analysis method is proposed, where position and orientation indices are developed. The results demonstrate that 42.85% of the error elements from all error sources can be enhanced to obtain an 85.62% increase in position error accuracy and up to 93.06%, 87.9%, and 42.21% of improvements in orientation error along the <i>x</i>, <i>y</i>, and <i>z</i> directions, respectively. In addition, these results show that the proposed accuracy design process is extremely effective and can greatly help to enhance the manipulator’s accuracy. Furthermore, in order to achieve greater accuracy throughout the design phase, the errors on prismatic links and on universal joint angles should be given much more consideration.</p>

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Accuracy design of 6-UPS Gough-Stewart platform by using geometric error modelling and sensitivity analysis

  • 期刊论文

  • 发表日期：

    2025年4月13日

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  • Ridha Kelaiaia,
  • Adlen Kerboua,
  • Allaoua Brahmia,
  • Ameur Latreche

摘要

This paper deals with the improvement of the accuracy design of the Gough-Stewart platform. To this end, two steps are considered: the first is modelling the positioning error of the manipulator using an analytical method; In the second one, in order to determine the primary error sources of the manipulator, a new sensitivity analysis method is proposed, where position and orientation indices are developed. The results demonstrate that 42.85% of the error elements from all error sources can be enhanced to obtain an 85.62% increase in position error accuracy and up to 93.06%, 87.9%, and 42.21% of improvements in orientation error along the x, y, and z directions, respectively. In addition, these results show that the proposed accuracy design process is extremely effective and can greatly help to enhance the manipulator’s accuracy. Furthermore, in order to achieve greater accuracy throughout the design phase, the errors on prismatic links and on universal joint angles should be given much more consideration.