Analysis of Stiffness and Positioning Accuracy of a Tripod Robot
| Autor: | L. G. Virabyan, E. V. Gaponenko, Larisa Rybak |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Computer science
Mechanical Engineering MathematicsofComputing_NUMERICALANALYSIS Tripod (photography) Stiffness 02 engineering and technology 01 natural sciences Industrial and Manufacturing Engineering Computer Science::Robotics symbols.namesake 020303 mechanical engineering & transports Robotic systems 0203 mechanical engineering Robot workspace Control theory Cutting force 0103 physical sciences Jacobian matrix and determinant symbols medicine Robot medicine.symptom Safety Risk Reliability and Quality 010301 acoustics ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | Journal of Machinery Manufacture and Reliability. 49:16-23 |
| ISSN: | 1934-9394 1052-6188 |
| DOI: | 10.3103/s1052618820010070 |
| Popis: | This paper considers a method of determining the stiffness and displacement of the output link of a tripod robot that is a part of a robotic system with relative manipulation modules based on a Jacobian matrix. It shows that the stiffness maps reveal the maximum and minimum stiffness in the robot workspace. An algorithm for calculating the error caused by the displacement of the output link under the action of the cutting force is given. The modeling results are presented. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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