tailieunhanh - Determining reasonable dimensions in robot structure design

This paper presents a point of view on determining reasonable dimensions when designing open kinematic chain robots. With two robots having the same configuration and reach, if the resolution of joint variables is the same but the length of links is different the response to endpoint accuracy will be different. So the rational strategy is that the strategy has dimensions increasing the desired accuracy without increasing the cost of manufacturing the robot hardware. | Nghiên cứu khoa học công nghệ DETERMINING REASONABLE DIMENSIONS IN ROBOT STRUCTURE DESIGN Le Thi Thu Thuy1 Pham Thanh Long1 Abstract This paper presents a point of view on determining reasonable dimensions when designing open kinematic chain robots. With two robots having the same configuration and reach if the resolution ofjoint variables is the same but the length of links is different the response to endpoint accuracy will be different. So the rational strategy is that the strategy has dimensions increasing the desired accuracy without increasing the cost of manufacturing the robot hardware. The justifiable link dimension can be determined by setting the different link length ratios and then examining them in the same boundary condition the robot kinematic model will be used at this stage. The application of the point of view introduced in this paper into the design will bring about a reasonable cost as it does not require increasing the resolution of the joint variables in the robot control nor does require tightening of the tolerance in mechanical manufacturing. Keywords Reasonable link length Kinematic problem manufacturing tolerance Open chain kinematic robot. I. INTRODUCTION In experimental studies authors have shown some parameters which affected the orbit accuracy in robot control 1 2 3 4 6 7 8 . In additions studies on robot s tolerance design 5 have shown a method of determining tolerance for DH parameters by quantitative values when nominal size of DH parameter is given. However the quantitative calculation of these DH parameters is rarely mentioned. To be linked into kinematic sequence to the required range robot must achieve both of the accuracy and the precision. This is a complex problem and experimental planning techniques can t solve this problem. This problem is independent of both of the above problems and requires a different method to proceed. There is no doubt that robots which have same structure and range but different DH sizes will give .

• Tự động hoá
• Reasonable link length
• Kinematic problem
• Manufacturing tolerance
• Open chain kinematic robot
• Robot hardware
• cấu tạo tobot
• lập trình robot
• điều khiển robot
• kỹ thuật lập trình
• chế tạo robot