TY  - JOUR
T1  - Influence of Geometric Error on Accuracy of Industrial Robot
AU - Taek oh, Yeon 
JO  - Journal of Engineering and Applied Sciences
VL  - 13
IS  - 7
SP  - 1877
EP  - 1887
PY  - 2018
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2018.1877.1887
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2018.1877.1887
KW  - robots
KW  -error characteristic
KW  -gear transmission error
KW  -datum location error
KW  -circular contouring
KW  -Geometric error
AB  - The study proposed a technique to analyse robot’s geometric error by using the data measured
during circle contouring movement of the industrial robot end effectors. Each joints of the industrial robot must
be set at a right angle to be able to move the robot’s end effectors to an intended position when an off line
program is used. However, the robot joints do not form a precise right angle, the end effectors occurs position
error when the robot is under operation. To analyze the angle error of the robot joints (i.e., datum location error),
the position measured during circular contouring of the end effectors is used. The shape of the measured circle
is also applied to analyze gear transmission error. The study carried out a simulation to find out that datum
location error and gear transmission error are the important error factors for accuracy of articulated robots.
ER  -