Abstract
Abstract. Among parallel robots, spherical robots occupy an important place. Most applications of spherical manipulators can be found in orienting devices, such as camera orienting and medical instrument alignment. A spherical parallel robot is, in general, made up of the base platform and the moving platform. This mobile platform and base are connected by three equally spaced legs, each consisting of revolute joints only. The axes of all joints intersect at a common point, which is called the center of rotation. The motion of the moving platform is confined on the surface of a sphere centered at the rotation center. A spherical parallel robot provides 3 degrees of freedom of pure rotations. These robots have been the subject of many papers dealing with the structure, the problems of position and velocity, workspace modeling, singularity analysis, and some problems with the dynamic analysis. However, not all the important problems have been solved. These concern the problem of accuracy. This paper presents accuracy of the spherical parallel. In the considered spherical manipulator, each leg consists of five kinematic pairs. The kinematic accuracy is determined on the kinematic problem. The dynamic accuracy is estimated on the equation of motion. Examples of solving the problem of determining the positioning error of the output level are presented.
Highlights
Production automation is ensured by the use of robotic complexes and systems
The positioning accuracy is determined by the positioning error of the output link when it is repeatedly brought to a given point and is expressed in angular or linear dimensions
With the kinematic estimate, the proposed approach to assessing the kinematic accuracy allows one to determine the deviations in the output link using the theory of accuracy
Summary
Production automation is ensured by the use of robotic complexes and systems. One of the important characteristics of assessing the quality of functioning of robotic systems is the positioning accuracy. The purpose of cycle matching is to establish the time interval between the impact and the final stage of the manipulation cycle This allows vibrations to dim before the positioning is complete. The nature of the residual vibrations depends on the dynamic properties of the manipulator When creating robots, they strive to perform links with a uniform, constant cross section along the length. The positioning error is determined from solving problems on the position of the mechanism This approach is not universal, since inaccuracies in the manufacture of links of mechanisms are inevitable, the temperature of the working environment is not constant, the mechanism can be located on a moving base, external influences can be present, and instability of motion occurs at a given law of motion. An integrated approach to assessing the performance of the actuator is presented
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