Kinematic Accuracy of Relative Manipulation by a Two-Handed Robot

2020 ◽  
Vol 40 (12) ◽  
pp. 1000-1002
Author(s):  
E. I. Vorob’ev ◽  
D. I. Khatuntsev
Keyword(s):  
Kinematic Accuracy

Calculation of the accuracy of a control head of a simplified design for dimensional control of parts

2020 ◽  
pp. 35-37
Author(s):  
Ya.L. Liberman ◽  
A.N. Mahiyanova ◽  
Gorbunova L.N.
Keyword(s):  
Size Control ◽  
Dimensional Control ◽  
Kinematic Accuracy ◽  
Measuring Probe

The metrological scheme of the control head of a simplified design is presented, its kinematic accuracy is analyzed. It is shown, that the effectiveness of the use of the head of this design, i.e., the accuracy of control, when controlling tolerances, in the manufacture of the part depends on the choice of the length of the measuring probe. Keywords part, size, control, measuring probe, kinematic accuracy, metrological scheme. [email protected]

scholarly journals Sensitivity Analysis of Reliability of Low-Mobility Parallel Mechanisms Based on a Response Surface Method

2021 ◽  
Vol 11 (19) ◽  
pp. 9002
Author(s):  
Qiang Yang ◽  
Hongkun Ma ◽  
Jiaocheng Ma ◽  
Zhili Sun ◽  
Cuiling Li
Keyword(s):  
Sensitivity Analysis ◽  
Response Surface ◽  
Response Surface Method ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Error Component ◽  
Parallel Mechanisms ◽  
Kinematic Accuracy ◽  
Surface Method ◽  
Input Error

Kinematic accuracy is a crucial indicator for evaluating the performance of mechanisms. Low-mobility parallel mechanisms are examples of parallel robots that have been successfully employed in many industrial fields. Previous studies analyzing the kinematic accuracy analysis of parallel mechanisms typically ignore the randomness of each component of input error, leading to imprecise conclusions. In this paper, we use homogeneous transforms to develop the inverse kinematics models of an improved Delta parallel mechanism. Based on the inverse kinematics and the first-order Taylor approximation, a model is presented considering errors from the kinematic parameters describing the mechanism’s geometry, clearance errors associated with revolute joints and driving errors associated with actuators. The response surface method is employed to build an explicit limit state function for describing position errors of the end-effector in the combined direction. As a result, a mathematical model of kinematic reliability of the improved Delta mechanism is derived considering the randomness of every input error component. And then, reliability sensitivity of the improved Delta parallel mechanism is analyzed, and the influences of the randomness of each input error component on the kinematic reliability of the mechanism are quantitatively calculated. The kinematic reliability and proposed sensitivity analysis provide a theoretical reference for the synthesis and optimum design of parallel mechanisms for kinematic accuracy.

Photoelectric method of checking the kinematic accuracy of mechanisms

1972 ◽  
Vol 15 (11) ◽  
pp. 1620-1622
Author(s):  
V. V. Kulagin ◽  
N. A. Mikhailov ◽  
G. V. Egorov
Keyword(s):  
Photoelectric Method ◽  
Kinematic Accuracy

Dimensional Optimization for Minimally Invasive Surgery Robot Based on Double Space and Kinematic Accuracy Reliability Index

2020 ◽  
Vol 3 (2) ◽  
Author(s):  
Yang Jing ◽  
Jin Lingyan ◽  
Shi Xinge ◽  
Zhao Deming ◽  
Hu Ming
Keyword(s):  
Reliability Index ◽  
Position Error ◽  
Optimal Size ◽  
Kinematic Accuracy ◽  
Position Accuracy ◽  
Adjustment Mechanism ◽  
Error Space ◽  
Double Space ◽  
Kinematic Performance ◽  
Dimensional Optimization

Abstract To improve the kinematic performance of the remote center mechanism for surgical robot, a double space index and kinematic accuracy reliability index are proposed to optimize the dimensional sizes of mechanism. First, the influence of the angular error on the position error and the operability of the remote center in the workspace are analyzed. The position error space and operability space index are weighted to establish the double space index. Second, a kinematic accuracy reliability index is established based on the influence of joint clearance on output position accuracy. Finally, the dimensional sizes of remote center adjustment mechanism and double parallelogram mechanism are optimized based on proposed optimization indices. Multipopulation genetic algorithm is used to obtain the optimal size parameters under the corresponding index. The optimized double space index is 56.7%, which is 56.5% higher than before optimization. The optimized kinematic accuracy reliability is 0.91, which is 22.9% higher than before optimization. The kinematic performance of remote center mechanism has been significantly improved after optimization.

Kinematic Accuracy of Manipulators in Industrial Systems

2020 ◽  
Vol 40 (1) ◽  
pp. 21-25
Author(s):  
E. I. Vorob’ev ◽  
V. V. Zuev ◽  
D. G. Filipov
Keyword(s):  
Industrial Systems ◽  
Kinematic Accuracy
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