Paper Title:
High Accuracy Analysis of SCARA Industrial Robot Based on Screw Theory
  Abstract

Error sources which influence the end-executor’s accuracy are summarized. Based on an analysis of influence caused by the structural error and transmission error, we build a pose error model of industrial robots with screw theory. If regarding the inertia force of the robot system as the external force, the robot system will become a static system. The rigidity can be analyzed using the screw theory, then we establish the dynamic error modle which is caused by the inertia force and gravity. After the error parameters which influence the static error of Selective Compliance Assembly Robot Arm (SCARA) robot are expressed by two-dimensional discrete variable, error space of the end-executor’s track of robot are made. Position error which influenced by the error sources are analysed by comparision of difference. Total accuracy can be improved through controlling the error direction of the static error to counteract the dynamic error's influence. The error model provides an effective theoretical support for the design of industrial robots with different accuracy requirements.

  Info
Periodical
Edited by
Han Zhao
Pages
249-255
DOI
10.4028/www.scientific.net/AMM.130-134.249
Citation
L. Zhao, M. Su, Y. C. Miao, "High Accuracy Analysis of SCARA Industrial Robot Based on Screw Theory", Applied Mechanics and Materials, Vols. 130-134, pp. 249-255, 2012
Online since
October 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Zhen Zhong Sun, Zeng Hong, Sheng Gui Chen
Abstract:By using homogenous coordinate transformation principle and Denavit-Hartenberg analysis method, a measurement kinematics model and a error...
263
Authors: Xiao Jun Wang, Xiao Guang Fu
Chapter 2: Advanced Manufacturing Technologies
Abstract:In this paper the characteristics of geometric errors is discussed in detail, error compensation methods used in productive practice and...
239
Authors: Soichi Ibaraki, Ce Fu Hong
Chapter 9: Precision Metrology
Abstract:Thermal distortions are regarded as one of major error factors in a machine tool. ISO 230-3 [1] describes tests to evaluate the influence of...
809
Authors: Jun Cheng Lv, Lian Bo Yang
Abstract:The paper discusses the structural stability of 4-dof manipulator, which is suitable for welding spot of three-dimensional space concentrated...
277
Authors: Shi Jie Hu
Chapter 1: Mechatronics
Abstract:The precision analysis of a 3-PRS parallel robot with three DOFs has been studied in this paper. The 3-PRS parallel robot has been introduced...
495