The Application of Matrix-structural Method to the Error Analysis of Robots

Abstract

One of the major fact or s affecting the pose accuracy of robot end-effector is the deflection of robot links. In this paper, the finite element method and matrix-structural method ar e used for the kineto-elastostatic and kineto-elastodynamic analysis of the ro bot. A universal model of analyzing the pose errors of robot end-effector is se t up. The windows application based on the Matlab has been programmed. Using thi s program, the pose errors of planar and spatial robot caused by the deflection of robot links can be calculated.