Analysis of the effects of manufacturing errors on the accuracy of dual-elbow and elbow manipulators

Dimitrios M. Emiris, Vassilios D. Tourassis

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

The geometry of the robotic structure directly influences the positional and orientational capabilities of a manipulator. Among the existing robot geometries, the ideal dual-elbow and elbow manipulators are the most prevalent because of their excellent posing abilities and because they provide the maximum dextrous and reachable workspaces for a given total link length. These geometries, however, are very sensitive to small manufacturing errors that distort their ideal arrangement of joint axes and impact on their accuracy. In this paper, realistic dual-elbow and elbow geometries, incorporating modeled manufacturing errors are considered and their accuracy is contrasted and compared. A set of criteria consisting of statistical measures is developed to evaluate the performance of the realistic geometries in terms of accuracy. Theoretical and experimental results demonstrate the superiority of the realistic dual-elbow geometry for the same amount of distortion and dictate its use, especially for high-precision applications.

Original languageEnglish
Pages (from-to)153-166
Number of pages14
JournalMechanism and Machine Theory
Volume30
Issue number1
DOIs
Publication statusPublished - 1995
Externally publishedYes

Fingerprint

Manipulators
Geometry
Robotics
Robots

ASJC Scopus subject areas

  • Bioengineering
  • Computer Science Applications
  • Mechanical Engineering
  • Mechanics of Materials
  • Industrial and Manufacturing Engineering

Cite this

Analysis of the effects of manufacturing errors on the accuracy of dual-elbow and elbow manipulators. / Emiris, Dimitrios M.; Tourassis, Vassilios D.

In: Mechanism and Machine Theory, Vol. 30, No. 1, 1995, p. 153-166.

Research output: Contribution to journalArticle

@article{37f402a2400d47bf90ca65098b51c782,
title = "Analysis of the effects of manufacturing errors on the accuracy of dual-elbow and elbow manipulators",
abstract = "The geometry of the robotic structure directly influences the positional and orientational capabilities of a manipulator. Among the existing robot geometries, the ideal dual-elbow and elbow manipulators are the most prevalent because of their excellent posing abilities and because they provide the maximum dextrous and reachable workspaces for a given total link length. These geometries, however, are very sensitive to small manufacturing errors that distort their ideal arrangement of joint axes and impact on their accuracy. In this paper, realistic dual-elbow and elbow geometries, incorporating modeled manufacturing errors are considered and their accuracy is contrasted and compared. A set of criteria consisting of statistical measures is developed to evaluate the performance of the realistic geometries in terms of accuracy. Theoretical and experimental results demonstrate the superiority of the realistic dual-elbow geometry for the same amount of distortion and dictate its use, especially for high-precision applications.",
author = "Emiris, {Dimitrios M.} and Tourassis, {Vassilios D.}",
year = "1995",
doi = "10.1016/0094-114X(94)00044-L",
language = "English",
volume = "30",
pages = "153--166",
journal = "Mechanism and Machine Theory",
issn = "0374-1052",
publisher = "Elsevier",
number = "1",

}

TY - JOUR

T1 - Analysis of the effects of manufacturing errors on the accuracy of dual-elbow and elbow manipulators

AU - Emiris, Dimitrios M.

AU - Tourassis, Vassilios D.

PY - 1995

Y1 - 1995

N2 - The geometry of the robotic structure directly influences the positional and orientational capabilities of a manipulator. Among the existing robot geometries, the ideal dual-elbow and elbow manipulators are the most prevalent because of their excellent posing abilities and because they provide the maximum dextrous and reachable workspaces for a given total link length. These geometries, however, are very sensitive to small manufacturing errors that distort their ideal arrangement of joint axes and impact on their accuracy. In this paper, realistic dual-elbow and elbow geometries, incorporating modeled manufacturing errors are considered and their accuracy is contrasted and compared. A set of criteria consisting of statistical measures is developed to evaluate the performance of the realistic geometries in terms of accuracy. Theoretical and experimental results demonstrate the superiority of the realistic dual-elbow geometry for the same amount of distortion and dictate its use, especially for high-precision applications.

AB - The geometry of the robotic structure directly influences the positional and orientational capabilities of a manipulator. Among the existing robot geometries, the ideal dual-elbow and elbow manipulators are the most prevalent because of their excellent posing abilities and because they provide the maximum dextrous and reachable workspaces for a given total link length. These geometries, however, are very sensitive to small manufacturing errors that distort their ideal arrangement of joint axes and impact on their accuracy. In this paper, realistic dual-elbow and elbow geometries, incorporating modeled manufacturing errors are considered and their accuracy is contrasted and compared. A set of criteria consisting of statistical measures is developed to evaluate the performance of the realistic geometries in terms of accuracy. Theoretical and experimental results demonstrate the superiority of the realistic dual-elbow geometry for the same amount of distortion and dictate its use, especially for high-precision applications.

UR - http://www.scopus.com/inward/record.url?scp=0029203928&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0029203928&partnerID=8YFLogxK

U2 - 10.1016/0094-114X(94)00044-L

DO - 10.1016/0094-114X(94)00044-L

M3 - Article

VL - 30

SP - 153

EP - 166

JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

SN - 0374-1052

IS - 1

ER -