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论文类型：会议论文

发表时间：2016-01-01

收录刊物：EI、CPCI-S

卷号：36

页面范围：715-724

关键字：Robots; Link errors; Kinematic pair errors; Saddle point programming

摘要：A novel approach is proposed in this paper to identify the link and kinematic pair errors of a SCARA robot. When geometric errors and elastic deformations are taken into consideration, an actual revolute joint permits motion of the moving link with respect to the fixed link with a total of six DOFs including the nominal rotational motion about the ideal R-joint axis. The actual moving axis of the R-joint is determined using the saddle point programming. The kinematic pair error is designated as the fitting error between the saddle constant axis ruled surface and the line-trajectory. The numerical results obtained using the proposed theory for a case study show good agreement with the experimental data.