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

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

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.

Original language	English
Title of host publication	2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Publisher	IEEE Computer Society
Pages	346-350
Number of pages	5
ISBN (Electronic)	9781728131764
DOIs	https://doi.org/10.1109/ARSO46408.2019.8948710
Publication status	Published - Oct 2019
Event	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, China Duration: 31 Oct 2019 → 2 Nov 2019

Publication series

Name	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Volume	2019-October
ISSN (Print)	2162-7568
ISSN (Electronic)	2162-7576

Conference

Conference	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Country/Territory	China
City	Beijing
Period	31/10/19 → 2/11/19

Access to Document

10.1109/ARSO46408.2019.8948710

Cite this

Lang, S., Xin, H., & Yu, Z. (2019). Simulation of Kinematic Accuracy of a 6-DOF Serial Robotic Mechanism Based on Screw Theory. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 (pp. 346-350). Article 8948710 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 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",

month = oct,

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. in 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, vol. 2019-October, IEEE Computer Society, pp. 346-350, 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019, Beijing, China, 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. p. 346-350 8948710 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Simulation of Kinematic Accuracy of a 6-DOF Serial Robotic Mechanism Based on Screw Theory

AU - Lang, Shihui

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.

UR - http://www.scopus.com/inward/record.url?scp=85078329141&partnerID=8YFLogxK

U2 - 10.1109/ARSO46408.2019.8948710

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

EP - 350

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. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society. 2019. p. 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

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this