PRECISION-BASED ROBOT KINEMATIC DESIGN FOR MICROASSEMBLY APPLICATIONS

被引:0
|
作者
Das, Aditya N. [1 ]
Popa, Dan O. [1 ]
机构
[1] Automat & Robot Res Inst, Ft Worth, TX 76118 USA
来源
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, DETC 2010, VOL 4 | 2010年
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中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
The kinematics of a robotic manipulator, including the type of joints, actuators, and other geometric parameters significantly affects its precision (or positioning uncertainty) at the end-effector. Modeling and prediction of these uncertainties can provide useful insight and serve as design guidelines for precision manipulators that are used in micro and nanomanufacturing. Of particular interest are micro scale assembly scenarios where the tolerance budgets are stringent and precision requirements are high, but there is little space for extensive sensor feedback due to a small work volume. In this paper, we investigate the effect of parametric uncertainties in a serial robot chain on overall positioning uncertainty at the end-effector. Two types of errors are considered: static errors due to misalignment and link parameter uncertainties, and dynamic errors due to inaccurate motion of individual links Using uncertainty metrics we compare the precision of several different robot kinematic chain configurations.
引用
收藏
页码:857 / 862
页数:6
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