A COMPUTATIONAL SOLUTION TO ENSURE ROBOT END-EFFECTOR ERROR WITHIN A PREDETERMINED LIMIT AREA

Abstract

The accuracy of manipulators is the result of processes of mechanical design, control and structural calibration (adjustment). In this paper, we propose a method to calculate and ensure the initial quality of mechanical structures as required, in which the influence of tolerances of joint variables, links (tolerances of D-H parameters) and all bearings in the dynamic diagram is considered. To find these values, we have to determine each quantity in small problems as the first approximation and then put into forward kinematic responses to test. In the world, the study of the tolerance of robot structure has two main trends: Qualitative research by planning and quantitative research through covariance. These methods have some main disadvantages such asdo not show manufacturing tolerances but only provide the effect of each survey parameter on tolerance or only within a certain reliability range.The method proposed in this paper is a numerical method that can assuredly check all possibilities so its reliability is superior to other traditional methods.