| Autor: |
Allaoua Brahmia, Adlen Kerboua, Ridha Kelaiaia, Ameur Latreche |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
|
| Zdroj: |
Applied Sciences, Vol 13, Iss 19, p 10703 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
2076-3417 |
| DOI: |
10.3390/app131910703 |
| Popis: |
Robotic systems require high accuracy in manipulating objects. Positioning errors are influenced by geometric tolerances and various sources. This paper introduces a new technique based on the interior-point algorithm optimisation method to allocate tolerances to the geometric parameters of a robot. This method consists of three steps. First, a method for modelling the kinematic problem as well as the geometric errors must be used. The Denavit–Hartenberg rule is the most suitable method for this modelling case. Then, a mathematical model for tolerance allocation is developed and used as a nonlinear multivariable optimisation problem. Finally, the “interior-point” algorithm is used to solve this optimisation problem. The accuracy and efficiency of the proposed method, in determining the tolerance allocations for a Delta parallel robot, is illustrated via calculation and simulation results. The values of the dimensional tolerances found are optimal. As a result, these values always keep the accuracy less than or equal to the imposed value. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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