Simulation of Kinematic Accuracy of a 6-DOF Serial Robotic Mechanism Based on Screw Theory

Shihui Lang; Hongbing Xin; Zhangguo Yu

doi:10.1109/ARSO46408.2019.8948710

Simulation of Kinematic Accuracy of a 6-DOF Serial Robotic Mechanism Based on Screw Theory

Shihui Lang, Hongbing Xin, Zhangguo Yu

机电学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

In order to improve and control the accuracy of robot system, Based on the theory of matrix differential expression presented in reference 1 and independent action principle of errors, the models of structural parameters, clearances and the comprehensive shape and position errors of mechanism are established and the error synthesis is obtained in the form of vector sum. Furthermore, the repeatable position accuracy of a 6-DOF serial robotic mechanism has been accomplished by Monte Carlo method, which provides a new method for error analysis of robot mechanism and a reference basis for precision optimization design.

源语言	英语
主期刊名	2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
出版商	IEEE Computer Society
页	346-350
页数	5
ISBN（电子版）	9781728131764
DOI	https://doi.org/10.1109/ARSO46408.2019.8948710
出版状态	已出版 - 10月 2019
活动	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, 中国期限: 31 10月 2019 → 2 11月 2019

出版系列

姓名	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
卷	2019-October
ISSN（印刷版）	2162-7568
ISSN（电子版）	2162-7576

会议

会议	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
国家/地区	中国
市	Beijing
时期	31/10/19 → 2/11/19

访问文件

10.1109/ARSO46408.2019.8948710

其它文件与链接

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引用此

Lang, S., Xin, H., & Yu, Z. (2019). Simulation of Kinematic Accuracy of a 6-DOF Serial Robotic Mechanism Based on Screw Theory. 在 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 (页码 346-350). 文章 8948710 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; 卷 2019-October). IEEE Computer Society. https://doi.org/10.1109/ARSO46408.2019.8948710

@inproceedings{bdce22bc1a0147c09c3a18210828a7be,

title = "Simulation of Kinematic Accuracy of a 6-DOF Serial Robotic Mechanism Based on Screw Theory",

abstract = "In order to improve and control the accuracy of robot system, Based on the theory of matrix differential expression presented in reference 1 and independent action principle of errors, the models of structural parameters, clearances and the comprehensive shape and position errors of mechanism are established and the error synthesis is obtained in the form of vector sum. Furthermore, the repeatable position accuracy of a 6-DOF serial robotic mechanism has been accomplished by Monte Carlo method, which provides a new method for error analysis of robot mechanism and a reference basis for precision optimization design.",

author = "Shihui Lang and Hongbing Xin and Zhangguo Yu",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 ; Conference date: 31-10-2019 Through 02-11-2019",

year = "2019",

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doi = "10.1109/ARSO46408.2019.8948710",

language = "English",

series = "Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO",

publisher = "IEEE Computer Society",

pages = "346--350",

booktitle = "2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019",

address = "United States",

}

Lang, S, Xin, H & Yu, Z 2019, Simulation of Kinematic Accuracy of a 6-DOF Serial Robotic Mechanism Based on Screw Theory. 在 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019., 8948710, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, 卷 2019-October, IEEE Computer Society, 页码 346-350, 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019, Beijing, 中国, 31/10/19. https://doi.org/10.1109/ARSO46408.2019.8948710

Simulation of Kinematic Accuracy of a 6-DOF Serial Robotic Mechanism Based on Screw Theory. / Lang, Shihui; Xin, Hongbing; Yu, Zhangguo.
2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society, 2019. 页码 346-350 8948710 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; 卷 2019-October).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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AU - Xin, Hongbing

AU - Yu, Zhangguo

PY - 2019/10

Y1 - 2019/10

N2 - In order to improve and control the accuracy of robot system, Based on the theory of matrix differential expression presented in reference 1 and independent action principle of errors, the models of structural parameters, clearances and the comprehensive shape and position errors of mechanism are established and the error synthesis is obtained in the form of vector sum. Furthermore, the repeatable position accuracy of a 6-DOF serial robotic mechanism has been accomplished by Monte Carlo method, which provides a new method for error analysis of robot mechanism and a reference basis for precision optimization design.

AB - In order to improve and control the accuracy of robot system, Based on the theory of matrix differential expression presented in reference 1 and independent action principle of errors, the models of structural parameters, clearances and the comprehensive shape and position errors of mechanism are established and the error synthesis is obtained in the form of vector sum. Furthermore, the repeatable position accuracy of a 6-DOF serial robotic mechanism has been accomplished by Monte Carlo method, which provides a new method for error analysis of robot mechanism and a reference basis for precision optimization design.

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DO - 10.1109/ARSO46408.2019.8948710

M3 - Conference contribution

AN - SCOPUS:85078329141

T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO

SP - 346

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BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019

PB - IEEE Computer Society

T2 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019

Y2 - 31 October 2019 through 2 November 2019

ER -

Lang S, Xin H, Yu Z. Simulation of Kinematic Accuracy of a 6-DOF Serial Robotic Mechanism Based on Screw Theory. 在 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society. 2019. 页码 346-350. 8948710. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). doi: 10.1109/ARSO46408.2019.8948710

Simulation of Kinematic Accuracy of a 6-DOF Serial Robotic Mechanism Based on Screw Theory

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