Open AccessDetermination of output link positioning error of tripod module using numerical method
Author(s) -
Е. В. Гапоненко,
Dmitry Malyshev,
Laxmidhar Behera
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1353/1/012083
Subject(s) - tripod (photography) , computer science , industrial robot , position error , link (geometry) , approximation error , position (finance) , algorithm , control theory (sociology) , robot , simulation , mathematics , artificial intelligence , engineering , mechanical engineering , geometry , orientation (vector space) , computer network , control (management) , finance , economics
The article presents a method for the determination of the tripod module output link positioning error, which is part of a robotic complex with relative manipulation mechanisms. The method of non-uniform coverings is used to solve this problem, which allows approximating the set of solutions of systems of equalities or inequalities describing the working tool position. The algorithm of approximation of the tripod module output link positioning error depending on the errors of the drives has been synthesized. As a result of modeling, an approximated error was obtained and graphically shown. The results can be used to select the geometric parameters of the tripod module and determine the accuracy of manufacturing robot parts, providing the technological errors of the working tool positioning specified by technological processes.