Tham khảo tài liệu 'industrial robotics theory modelling and control part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Error Modeling and Accuracy of Parallel Industrial Robots 589 Table 2 shows the performance comparison between the TAU robot and the gantry robot currently used in laser cutting application which indicates the potential applications instead of using linear gantry robot. The performance of TAU covers all advantages of the Linear Motor Gantry. Displacement sen- Carbon fiber composite arm Direct drive ac- Figure 12. Single Arm Test Platform for Drive Motor Error Analysis Figure 13. ADAMS Simulation Model for Two-Arm Test Platform 590 Industrial Robotics Theory Modelling and Control Figure 14. Two-Arm Test Platform double SCARA structure Figure 15. TAU Prototype Design Error Modeling and Accuracy of Parallel Industrial Robots 591 3. Kinematics of Tau configuration This chapter gives the nominal no error kinematics of the TAU robot. It is a general solution for this type of 3-DOF parallel-serial robots. For the two-arm test platform a simple kinematic solution can be obtained based on its double SCARA configuration and it is not included in this chapter. The two-arm test platform kinematics was used in friction model identification and kinematic error calibration of the two-arm test platform. It will be introduced as needed in the related chapters. To solve the kinematics of this 3-DOF TAU robot three independent equations are needed. The three lower arm links connected between the moving plate and upper arm 1 are designed to be parallel to each other and have the same length. Similarly the two lower arms of upper arm 2 are also parallel and equal in length which gives another length equation. The third equation comes from the lower arm 3. Formulating these three equations all starts from point P in Figure where three kinematic chains meet. Three basic equations for the kinematic problem are 03 KCP Px Py Pz 02 D3 Z d11 D1 a12 01 d21 a32 9 0i Input rotational joint Y Universal joint X d31 Spherical joint Figure Robot Kinematic .
