Open AccessINFLUENCE OF DIMENSIONAL DEVIATIONS OF MECHANICAL ELEMENTS IN THE KINEMATIC STRUCTURE OF SCARA INDUSTRIAL ROBOTS ON POSITIONING PRECISION AND TRAJECTORY ACCURACY
Author(s) -
Andrei Luncanu,
Gheorghe Stan
Publication year - 2018
Publication title -
journal of engineering studies and research
Language(s) - English
Resource type - Journals
eISSN - 2344-4932
pISSN - 2068-7559
DOI - 10.29081/jesr.v24i3.51
Subject(s) - scara , kinematics , trajectory , robot , control theory (sociology) , computer science , robot end effector , artificial intelligence , physics , classical mechanics , control (management) , astronomy
The purpose of this article is to present the research on the influence of the dimensional deviations of the mechanical elements in the kinematic structures of the SCARA industrial robots regarding the positioning precision and trajectory error. In this article the direct kinematics method is used to calculate the positioning of the end-effector and generate the trajectory simulation with and without dimensional deviations.