The study of the accuracy of the robot movement along a given path considering the workspace boundaries, velocity and inertial properties of the drive

摘要

Abstract 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.