Study on the geometric accuracy evaluation of joints, limbs and mechanisms
Accuracy evaluation has been key problem for the mechanism applications for both the serial and parallel ones.Certain indices have been used such as dexterity, manipulability and global conditioning index, but none of them works perfectly when a robot has translational and rotational degrees of freedom.This paper presents a new geometric accuracy index computing the influence of parameters working on the end.This nondimensional index is the function of the scale factors of the mechanism dimensions and has nothing to do with the real dimensions of the mechanism.So the computing results can be regarded as the specialties of such kind of robots.The approach is illustrated on two joints, and then expanded to limbs and mechanisms.
Yong Zhang Feng Gao Jing Wang
School of Mechanical EngineeringShanghai Jiaotong UniversityShanghai,China School of Mechanical Engineering Shanghai Jiaotong University Shanghai,China
国际会议
上海
英文
1-7
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）