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Optimal Stochastic Design of a Parallel Robot for Tolerance

  • P. B. Zobel
  • P. Di Stefano
Conference paper
Part of the Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich book series (AKADNIEDERÖSTER)

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.

Keywords

Link Length Parallel Robot Dimensional Error Manufacturing Tolerance Rectilinear Trajectory 
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Copyright information

© Springer-Verlag/Wien 1994

Authors and Affiliations

  • P. B. Zobel
    • 1
  • P. Di Stefano
    • 1
  1. 1.Dipartimento di EnergeticaUniversita’ di L’AquilaAquilaItaly

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