Papers by Keyword: Kinematic Error

Abstract: When walking robot MiniQuad-1 moves, the motion error is larger. The robot’s structure deformation is obvious. In order to improve the precision of the walking robot, the finite element analysis technique is adopted to research four-legged walking robot MiniQuad-1 in this paper. After the structure of the robot is introduced, the motion error of robot is discussed. The robot kinematics planning is completed based kinematics analysis. Some Motion postures are built using the solidworks. Static analysis of the motion pose is completed by using ansys software for robot MiniQuad-1. According to the analysis results, the robot structure improvement measures are determined. Further, the force and deformation for robot is studied after loading to lay the foundation for expand the robot of subsequent application.

Abstract: Aiming at kinematic accuracy and its’ error sources of a free floating space robot, a mathematical kinematic error model based on the concept of virtual manipulator and screw theory is proposed in this paper for a free-floating space robot. Based on screw theory, structural parameters in the form of motion screw and their error expressions derived from various error sources are deduced. The effect of mass error, CM (Center of Mass) error and structural parameter error on the kinematic accuracy of the free-floating space manipulator is analyzed. A simulation is demonstrated for verifying the correctness of the kinematic error model and the effect of various error sources on the free-floating space robot. The error model and the result deriving from analyzing are vital for studying the kinematic accuracy of the space manipulator when it is under a free-floating mode, and for controlling and assigning various errors when a space robot is developed.