General method and algorithms used for accuracy modelling of parallel robots. (4th December 2009)

• Record Type: Journal Article
• Authors: Neagoe, Mircea; Diaconescu, Dorin
• Is Part Of: International journal of biomechatronics and biomedical robotics. Volume 1:Number 1(2009)
• Page Start: 22
• Page End: 30
• Publication Date: 2009-12-04
• Subjects: parallel robots -- robot accuracy -- robot precision -- error Jacobean -- homogenous operators -- direct models of errors -- open kinematic chain -- OKC -- general method -- modelling algorithms -- robot calibration; Medical electronics -- Periodicals; Biomedical engineering -- Periodicals; 610.2805
• Languages: English
• ISSNs: 1757-6792

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.