TY - GEN
T1 - Accuracy analysis and optimal design of palletizing robot with joint clearance
AU - Wang, Mingliang
AU - Liao, Bin
AU - Lou, Yunjiang
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - This paper presents a systematic study of the optimal design problem for a palletizing robot with joint clearance based on the robot accuracy analysis theory which is combined with mechanism analysis method reasonably. The mechanical structure of palletizing robot is divided into three special four-link (parallelogram) mechanisms. And the pose (position and orientation) error of every parallelogram has been analyzed with parallel manipulators accuracy analysis method. By the error transformation relationship of the three parallelograms with joint clearance, an efficient formulation is proposed to evaluate the maximal pose error of palletizing robot. Base on the maximal pose error formulation, an optimal design method of the palletizing robot is obtained by minimize the normalization error we have proposed. Finally, a numerical example shows that the optimal design with joint clearance presents improved performance on accuracy.
AB - This paper presents a systematic study of the optimal design problem for a palletizing robot with joint clearance based on the robot accuracy analysis theory which is combined with mechanism analysis method reasonably. The mechanical structure of palletizing robot is divided into three special four-link (parallelogram) mechanisms. And the pose (position and orientation) error of every parallelogram has been analyzed with parallel manipulators accuracy analysis method. By the error transformation relationship of the three parallelograms with joint clearance, an efficient formulation is proposed to evaluate the maximal pose error of palletizing robot. Base on the maximal pose error formulation, an optimal design method of the palletizing robot is obtained by minimize the normalization error we have proposed. Finally, a numerical example shows that the optimal design with joint clearance presents improved performance on accuracy.
UR - https://www.scopus.com/pages/publications/85050615957
U2 - 10.1109/RCAR.2017.8311886
DO - 10.1109/RCAR.2017.8311886
M3 - 会议稿件
AN - SCOPUS:85050615957
T3 - 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
SP - 355
EP - 360
BT - 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
Y2 - 14 July 2017 through 18 July 2017
ER -