The Influence of the Errors Introduced by the Actuator on the Positioning Accuracy of the Robots with Parallel Delta 3 DOF

Abstract

In the last years, robots with Delta DOF structure are more and more used in applications of high precision because of their advantages such as: high rigidity, they can be used at high degrees of speed and acceleration. Recently, the robots with Delta 3 DOF parallel structure have been used in the 3D printer’s field. Among the characteristics of the industrial robots, the accuracy has an important role in defining the performances of the industrial robots. The parallel structure Delta 3 DOF is actuated through three servomotor with gearbox. Because the driving systems introduce a series of errors from the nominal articulated coordinates, the positioning accuracy and repeatability are affected. In this paper, the authors study with experimental methods the means in which the errors introduced by the actuator can influence the positioning accuracy. According to the experimental results, the recommendations imposed were obtained in order to increase the positioning accuracy.

Sensitivity Analysis of Reliability of Low-Mobility Parallel Mechanisms Based on a Response Surface Method

“…Ghazi et al analyzed the kinematic accuracy of a 3-DOF Delta parallel manipulator via both Jacobian and geometric error models [22]. Dragos et al researched the influence of dimensional deviations, kinematic joints clearances and input errors introduced by the actuator on the positioning accuracy of the 3-DOF Delta parallel robots [23][24][25]. Tian and Zhang Designed generalized parallel manipulators, and the position analysis of the GPM was carried out to evaluate the workspace and reveal the motion characteristics [26].…”