Accuracy analysis and optimal design of palletizing robot with joint clearance

@article{Wang2017AccuracyAA,
  title={Accuracy analysis and optimal design of palletizing robot with joint clearance},
  author={Mingliang Wang and Bin Liao and Yunjiang Lou},
  journal={2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)},
  year={2017},
  pages={355-360}
}
This paper presents a systematic study of the optimal design problem for a palletizing robot with joint clearance based on the robot accuracy analysis theory which is combined with mechanism analysis method reasonably. The mechanical structure of palletizing robot is divided into three special four-link (parallelogram) mechanisms. And the pose (position and orientation) error of every parallelogram has been analyzed with parallel manipulators accuracy analysis method. By the error… CONTINUE READING

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