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The Due to the error, parallel manipulators always exhibit some position and orientation errors at the mobile platform. The analysis of accuracy is carried out to find the source errors which affect the pose accuracy of the end-effecter in terms of the error model. The accuracy synthesis is implemented to obtain the geometry tolerance of the major parts affecting the uncompensable pose error. In order...
The design complexity of parallel robots is due to the number of strictly interrelated functional and structural problems. Lower DOF parallel robot rely on strictly geometrical constraints of axis of pairs in and between limbs to obtain the reduced number of DOF. In practice, these constraints will never been perfectly fulfilled due to the inevitability of errors, and hence produce series bad effects...
To establish a universal and easily controlled gait for practical use of snake robot movement, inchworm locomotion gait model based on a serpenoid curve is presented. By analyzing the relations of two adjacent waves in the process of locomotion and doing an approximation of the serpenoid curve, the motion function of relative angles between two adjacent links and the absolute angles between each link...
To establish a universal and easily controlled gait for practical use of snake robot movement, inchworm locomotion gait model based on a serpenoid curve is p resented. By analyzing the relations of two adjacent waves in the process of locomotion and doing an approximation of the serpenoid curve, the motion function of relative angles between two adjacent links and the absolute angles between each...
Many uncertain factors influence the accuracy and repeatability of robots. These factors include manufacturing and assembly tolerances and deviations in actuators and controllers. The effects of these uncertain factors must be carefully analyzed to obtain a clear insight into the manipulator performance. In order to ensure the position and orientation accuracy of a robot end effector as well as to...
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