Tolerance Synthesis of Delta-like Parallel Robots Using a Nonlinear Optimisation Method
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Date
2023-07-26
Journal Title
Journal ISSN
Volume Title
Publisher
Applied Sciences
Abstract
Robotic systems require high accuracy in manipulating objects. Positioning errors are
influenced by geometric tolerances and various sources. This paper introduces a new technique
based on the interior-point algorithm optimisation method to allocate tolerances to the geometric
parameters of a robot. This method consists of three steps. First, a method for modelling the kinematic
problem as well as the geometric errors must be used. The Denavit–Hartenberg rule is the most
suitable method for this modelling case. Then, a mathematical model for tolerance allocation is
developed and used as a nonlinear multivariable optimisation problem. Finally, the “interior-point”
algorithm is used to solve this optimisation problem. The accuracy and efficiency of the proposed
method, in determining the tolerance allocations for a Delta parallel robot, is illustrated via calculation
and simulation results. The values of the dimensional tolerances found are optimal. As a result, these
values always keep the accuracy less than or equal to the imposed value.