Abstract
This paper deals with a comparison analysis of tolerance capability between two manipulators with two degrees of freedom: original structure with non-decoupled dynamics and the same structure with decoupled dynamics. The dynamic decoupling is carried out by connecting to the original structure a two-link group forming a Scott-Russell mechanism with the initial links of the manipulator. The given comparison is achieved with the same control algorithm having the same reference trajectory and asymptotic tracking control. For the comparison of tolerance capabilities, several main variable parameters are chosen for two dynamic models of manipulators by using simulations in MATLAB/SIMULINK environment (parametric errors during the same path following). As a result of simulations it was shown that the decoupling of the dynamic equations can improve the tolerance capability of planar serial manipulators. One can see that the robustness obtained with the decoupled structure is much better than with the original structure.
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Xu, J., Le Baron, JP., Arakelian, V. (2017). Tolerance Analysis of Planar Serial Manipulators with Decoupled and Non-decoupled Dynamics. In: Wenger, P., Flores, P. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 43. Springer, Cham. https://doi.org/10.1007/978-3-319-44156-6_4
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DOI: https://doi.org/10.1007/978-3-319-44156-6_4
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