Title: General method and algorithms used for accuracy modelling of parallel robots

Authors: Mircea Neagoe, Dorin Diaconescu

Addresses: Department of Product Design and Robotics, Transilvania University of Brasov, Bd. Eroilor 29, Brasov, 500036, Romania. ' Department of Product Design and Robotics, Transilvania University of Brasov, Bd. Eroilor 29, Brasov, 500036, Romania

Abstract: The paper deals with a new method and three derived general algorithms useful for accuracy studies of parallel robots. The proposed modelling can be used to evaluate the accuracy of parallel-type structure, considering both the independent kinematic parameters and the geometric parameters as error sources. This method is based on the use of homogenous operators and it can be applied to any parallel robot with any configuration and complexity. The results obtained through the accuracy models allow us to establish the region of maximum precision; consequently, the optimal placement of the task becomes possible. Also, the precision models are useful mathematical tools for robot calibration.

Keywords: parallel robots; robot accuracy; robot precision; error Jacobean; homogenous operators; direct models of errors; open kinematic chain; OKC; general method; modelling algorithms; robot calibration.

DOI: 10.1504/IJBBR.2009.030056

International Journal of Biomechatronics and Biomedical Robotics, 2009 Vol.1 No.1, pp.22 - 30

Available online: 03 Dec 2009 *

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