Prediction of dynamic error using multiple-error model for delta robot

Abstract:

The aim of this study is to accurately predict the dynamic error of the Delta robot using a multiple-error model to achieve the motion accuracy of the Delta robot. First, authors establish a multiple-error model of the Delta robot that takes into account the actuator deformations, link deformations, joint clearances and joint contact deformations that occur when the platform of the Delta robot is moved under external and inertial forces. Second, the authors use the multiple-error model to predict the dynamic error at each point of the path in which the center of the platform of the Delta robot moves. The obtained results show that the dynamic error of the Delta robot has a great influence on the motion accuracy. This study provides new theoretical data for the error analysis of the Delta robot and enables the dynamic error compensation of the Delta robot.