INFLUENCE OF DIMENSIONAL DEVIATIONS OF MECHANICAL ELEMENTS IN THE KINEMATIC STRUCTURE OF SCARA INDUSTRIAL ROBOTS ON POSITIONING PRECISION AND TRAJECTORY ACCURACY

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Published: Sep 18, 2018
DOI: https://doi.org/10.29081/jesr.v24i3.51
Keywords:
SCARA industrial robot, trajectory tracking error, positioning error

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ANDREI LUNCANU
“Vasile Alecsandri” University of Bacau, Calea Marasesti 157, Bacau, 600115, Romania
GHEORGHE STAN
“Vasile Alecsandri” University of Bacau, Calea Marasesti 157, Bacau, 600115, Romania

Abstract

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.

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How to Cite
LUNCANU, A., & STAN, G. (2018). INFLUENCE OF DIMENSIONAL DEVIATIONS OF MECHANICAL ELEMENTS IN THE KINEMATIC STRUCTURE OF SCARA INDUSTRIAL ROBOTS ON POSITIONING PRECISION AND TRAJECTORY ACCURACY. Journal of Engineering Studies and Research, 24(3), 15-19. https://doi.org/10.29081/jesr.v24i3.51
Issue
Vol. 24 No. 3 (2018): Journal of Engineering Studies and Research
Section
Articles