Open AccessThe study of the accuracy of the robot movement along a given path considering the workspace boundaries, velocity and inertial properties of the drive
Author(s) -
Sergey Khalapyan,
Larisa Rybak,
Victoria Perevuznik,
L. R. Kholoshevskaya,
Andrei Ignatov,
М. В. Попов
Publication year - 2020
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 - 10.1088/1742-6596/1582/1/012074
Subject(s) - workspace , mechanism (biology) , planar , robot , computer science , path (computing) , control theory (sociology) , inertial frame of reference , object (grammar) , simulation , research object , movement (music) , control (management) , artificial intelligence , physics , acoustics , classical mechanics , programming language , geography , computer graphics (images) , quantum mechanics , regional science
The paper considers the accuracy characteristics of a robot machine with a parallel structure as a control object. A specifically developed model of a planar 3-RPR mechanism with an electric drive based on a DC motor made it possible to experimentally study the dependence of the following robot output link accuracy according to the speed, weight and size characteristics of the drive and mechanism.