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The Effects of Design Parameters on the Mechanical Precision of an End Effector on a Parallel Kinematic Robot

병렬로봇의 설계공차 설정에 따른 기계적 정밀도의 영향 분석

  • Park, Chanhun (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kim, Doohyung (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Do, Hyunmin (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Choi, Taeyong (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Park, Dongil (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kim, Byungin (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials)
  • 박찬훈 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 김두형 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 도현민 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 최태용 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 박동일 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 김병인 (한국기계연구원 로봇메카트로닉스연구실)
  • Received : 2016.08.29
  • Accepted : 2016.09.20
  • Published : 2016.10.01

Abstract

In this paper, important design parameters for parallel kinematic robots are defined, paying special attention to machining errors which may cause kinematic errors at the end effector of a robot. The kinematic effects caused by each design parameter, as well as their upper/lower limits, are analyzed here. To do so, we have developed a novel software program to compute kinematic errors by considering its defined design parameters. With this program, roboticists designing parallel kinematic robots can understand the important design parameters for which upper/lower allowances have to be strictly controlled in the design process. This tactic can be used for the design of high-speed, parallel kinematic robots to reduce the design/manufacturing costs and increase kinematic precision.

Acknowledgement

Grant : 창조적 생산시스템을 위한 첨단생산장비 기술개발

Supported by : 한국기계연구원

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