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This paper discusses how joint clearance influences robot end effector positioning accuracy and a robot accuracy analysis approach based on a virtual prototype is proposed. First, a 5-DOF(Degree of freedom) neurosurgery robot was introduced. Then we built its virtual prototype, made movement planning and measured the manipulator tip accuracy, through which this robot accuracy portrait was obtained. Finally, in order to validate the robot accuracy analysis approach which is based on a virtual prototype, the result was compared with that from a model built by robot forward kinematics and robot differential kinematics. The robot accuracy analysis approach presented in this paper gives a new way to enhance robot design quality, and help to optimize the control and programming of the robot.
This paper discusses how joints clearance influences robot end effector positioning accuracy and a robot accuracy analysis approach based on a virtual prototype is proposed. First, a 5-DOF (Degree of Freedom) neurosurgery robot was introduced. Then we built its virtual prototype, made movement planning and measured the manipulator tip accuracy, through which this robot accuracy portrait was obtained. Finally, in order to validate the robot accuracy analysis approach which is based on a virtual prototype, the result was compared with that from a model built by robot forward The robot accuracy analysis approach presented presented by this paper gives a new way to enhance robot design quality, and help to optimize the control and programming of the robot.