Modelling static deformation of an articulated open-chain manipulator
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The applications of industrial robots are restricted because of link and joint flexibility —the primary cause of positioning errors. The problem of positioning error is an important issue in robotic research because of the increase in robot mobility and space applications. To overcome positioning errors, two methods have been extensively studied: on-line and off-line user-oriented methods. The first method fails due to high controller memory requirements, speed of operation and approximation errors. Though the second method is promising, it is still in its infancy. This thesis appoaches flexibility as a designer’s problem rather than as a user problem. Computer aided design software is widely used in designing robot manipulators. An iterative computation scheme is explored for flexibility analysis which could be incorporated into the computer aided design procedure. This scheme assesses the bounds of positioning errors. It helps the designer in screening infeasible designs even before a physical prototype is built and tested. Thus, the time and cost involved in the design cycle are reduced. The scheme can accomadate different types and shapes of robot links. The effectiveness of the scheme is demonstrated using a hypothetical 3-link robot.