Research regarding the influence of driving-wires length change on positioning precision of a robotic arm

4th ModTech International Conference - Modern Technologies in Industrial Engineering

Ciofu, C.^1 ; Stan, G.^1

Department of Industrial Engineering, Vasile Alecsandri University of Bacau, 157 Calea Marasesti Street, Bacau

600115, Romania^1

关键词: Analytical method;    Angular displacement;    Design structure;    Positioning precision;    Rotational angle;    Variable length;    Wire-driven;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/145/5/052007/pdf
DOI  :  10.1088/1757-899X/145/5/052007

来源: IOP

【 摘 要 】

The paper emphasise positioning precision of an elephant's trunk robotic arm which has joints driven by wires with variable length while operating The considered 5 degrees of freedom robotic arm has a particular structure of joint that makes possible inner actuation with wire-driven mechanism. We analyse solely the length change of wires as a consequence due inner winding and unwinding on joints for certain values of rotational angles. Variations in wires length entail joint angular displacements. We analyse positioning precision by taking into consideration equations from inverse kinematics of the elephant's trunk robotic arm. The angular displacements of joints are considered into computational method after partial derivation of positioning equations. We obtain variations of wires length at about tenths of micrometers. These variations employ angular displacements which are about minutes of sexagesimal degree and, thus, define positioning precision of elephant's trunk robotic arms. The analytical method is used for determining aftermath design structure of an elephant's trunk robotic arm with inner actuation through wires on positioning precision. Thus, designers could take suitable decisions on accuracy specifications limits of the robotic arm.