The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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The Analysis of Trajectory Tracking Error Caused by the Tolerance of the Design Parameters of a Parallel Kinematic Manipulator

병렬로봇의 설계 공차가 궤적 정밀도에 미치는 영향 분석

  • Park, Chanhun (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials) ;
  • Park, DongIl (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials) ;
  • Kim, Doohyung (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials)
  • Received : 2016.10.28
  • Accepted : 2016.11.11
  • Published : 2016.11.30
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Abstract

Machining error makes the uncertainty of dimensional accuracy of the kinematic structure of a parallel robot system, which makes the uncertainty of kinematic accuracy of the end-effector of the parallel robot system. In this paper, the tendency of trajectory tracking error caused by the tolerance of design parameters of the parallel robot is analyzed. For this purpose, all the position errors are analyzed as the manipulator is moved on the target trajectory. X, Y, Z components of the trajectory errors are analyzed respectively, as well as resultant errors, which give the designer of the manipulator the intuitive and deep understanding on the effects of each design parameter to the trajectory tracking errors caused by the uncertainty of dimensional accuracy. The research results shows which design parameters are critically sensitive to the trajectory tracking error and the tendency of the trajectory tracking error caused by them.

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References

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