Abstract
This paper presents both a sensitivity analysis to the dimensional errors and a statistical analysis of the effects of manufacturing tolerances for the Delta robot. Delta is a four degrees of freedom (dof) robot with a parallel structure. The kinematic model of the robot has been adjusted to consider geometrical and assembly parameters. Mechanical errors are analysed for the 3-Sigma band of confidence level through a stochastic model of the robot. The working area in which the manufacturing errors sensitivity has the minimum value is presented and a method to choose the optimal design tolerances is also suggested.
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© 1994 Springer-Verlag/Wien
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Zobel, P.B., Di Stefano, P. (1994). Optimal Stochastic Design of a Parallel Robot for Tolerance. In: Kopacek, P. (eds) Robotics in Alpe-Adria Region. Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich. Springer, Vienna. https://doi.org/10.1007/978-3-7091-9346-4_17
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DOI: https://doi.org/10.1007/978-3-7091-9346-4_17
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82545-7
Online ISBN: 978-3-7091-9346-4
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