Optimal Stochastic Design of a Parallel Robot for Tolerance
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.
KeywordsLink Length Parallel Robot Dimensional Error Manufacturing Tolerance Rectilinear Trajectory
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