Effect of Different Manipulator Configurations on Tip Positioning Accuracy

One of the main sources of positioning inaccuracy in robot manipulators is natural flexibility of the arm and the connecting joints. The end effector of a manipulator can in general be placed in a specified position and orientation with more than one configuration (branch). In the present study, the effect of the different manipulator configurations on variance of the tip displacement is studied where the manipulator is under a vertical base excitation. The tip displacement variance of a robot manipulator for different configurations is found to be appreciably different for the same base excitation. For a specified task, one of the working configurations of the robot manipulator will yield the lowest tip displacement (i.e. the best positioning accuracy for the end effector). Finally, simulation for a two-link planar robot manipulator is developed and some of the results are presented. The obtained results can provide useful design information and a guide for choosing the proper working configuration.

کلیدواژه ها:

Tip Accuracy ، Base Vibration ، and Robotic Manipulator.