A General Technique to Evaluate the Effects of Manufacturing Errors on Positioning Precision During Design

摘要

Industrial robots designed to accomplish high precision tasks require an accurate evaluation of the effects of manufacturing and assembly (geometric) errors on positioning precision. In the literature, such evaluations are mainly tailored on particular architectures and the proposed techniques are difficult to extend. Here, a general discussion on how to take into account geometric errors’ effects is presented together with a method for selecting either which workspace region is less affected by geometric errors or which geometric constants must be carefully sized to reduce these effects. The proposed method can be applied to any architecture. A case study is presented to better explain the method.