Global performance criterion of robotic manipulator with clearances based on reliability

被引：11

作者：

Lara-Molina, Fabian Andres ^{[1
]}

Dumur, Didier ^{[2
]}

机构：

[1] Univ Tecnol Fed Parana, BR-8630000 Cornelio Procopio, PR, Brazil

[2] Univ Paris Saclay, CNRS, Lab Signaux & Syst, Cent Supelec, F-91190 Gif Sur Yvette, France

来源：

JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING | 2020年 / 42卷 / 12期

关键词：

Robotic manipulators; Performance criteria; Error; Clearances; Kinematics; Reliability; KINEMATIC ACCURACY RELIABILITY; PLANAR; MECHANISM; DESIGN;

D O I：

10.1007/s40430-020-02708-5

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a novel performance criterion applied to robotic manipulators based on kinematic reliability. The kinetostatic performance criteria have been used to quantify the effect of errors in the manipulators. Nevertheless, design criteria based on the kinematic errors produced by joint clearances have not been established. This contribution proposes a novel performance index based on kinematic reliability concepts that evaluates the effect of the kinematic error produced by clearances over a required workspace. The application of the proposed global kinematic reliability criterion is evaluated for serial and parallel manipulators.

引用

页数：13

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