سال انتشار: ۱۳۸۴

محل انتشار: اولین کنفرانس بین المللی و هفتمین کنفرانس ملی مهندسی ساخت و تولید

تعداد صفحات: ۸

نویسنده(ها):

Yaser Maddahi – Islamic Azad University, Saveh Branch, Mechanical Engineering Department
Ali Maddahi – Amir Kabir University of Technology, Mechanical Engineering Department
J Reza Esfandyari – Islamic Azad University, Saveh Branch, Mechanical Engineering Department

چکیده:

This article presents an improved method with a combination of energy methods and the concepts of differential relationships to more accurately calculate the static deflection at the end-effector. A systematic approach to deflection calculation through Jacobian matrix is presented. The theoretical deflection analysis is verified by simulation results. Also a two-link robot is used for numerical illustration and calculation procedure and the total deflection analysis of the end-effector is calculated with respect to base. Finally, the deflection statements and the endeffector positioning errors are minimized considering that the deflection functions are differentiable.