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Investigation of the Positioning Accuracy of the Manipulator Working Mechanism

Arina D. Terenteva and Eugene O. Podchasov
Department of robotics and complex automation, Bauman Moscow State Technical University
Department of Theory for Mechanisms and Machines, Mechanical Engineering Research Institute of the Russian
Academy of Sciences, Moscow, Russian Federation

Abstract— The problem of the positioning accuracy of the kinematic chain elements exists in mechanisms with open kinematic chains. The coordinates of the output link must be determined precisely. If the coordinates of the output link are determined exactly, then the required movement will be specified exactly, which means that the required functions of the mechanism will be performed. This article discusses a typical open chain manipulator mechanism. This mechanism is very common and has a fairly simple scheme, you can clearly show the principles of calculation and accuracy assessment.

Index Terms— manipulator, working mechanism, automatic control system, accuracy

Cite: Arina D. Terenteva and Eugene O. Podchasov, "Investigation of the Positioning Accuracy of the Manipulator Working Mechanism," International Journal of Mechanical Engineering and Robotics Research, Vol. 10, No. 4, pp. 177-182, April 2021. DOI: 10.18178/ijmerr.10.4.177-182

​Copyright © 2021 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.