Abstract
In the present paper, equations of output errors in open- and closed-loop robot arms have been derived with consideration of errors of link parameters, radial and angular clearances of bearings and input errors. Applying the equations to a 5-link closed-loop robot arm, effects of each error factor upon the output displacement are discussed. Changing systematically a ratio of link length and the output point position if the robot arm, charts which show working spaces and output errors caused by bearing clearances and input errors are obtained. Moreover a synthesis procedure of the 5-link closed-loop robot arm has been proposed. Making use of the charts, the robot arm has been synthesized by the procedure, revealing that the output errors due to bearing clearances and input errors of the obtained robot arm are respectively about 25% and 60% of those output errors of the existing robot arm and that the arm has almost the same precision throughout its entire working space.
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