: pp. 30-35
Національний університет “Львівська політехніка”
Lviv Polytechnic National University
Technical University, Ilmenau, Germany

Industrial robots refer to the most complex products of mechanical engineering and electronic equipment in terms of their labor intensity, accuracy, and a class of manufacture as well as quality requirements. Both static and dynamic positioning inaccuracies occur during their operation. Static positioning depends mainly on such parameters as joint axis geometry and angle offset. Non-geometric parameters include compliance (elasticity of joints and bonds), gear form errors (eccentricity and gear errors), gear backlash, and temperature-related expansion. Dynamic positioning is only relevant for large robots that are subject to high speeds and accelerations. Positioning accuracy is affected by the design features of the robot, the control system, the speed of movement and rotation of the manipulator, temperature, and vibrations, both inherent and caused by the robot's location in production. This research examines the sources of positioning inaccuracy and gives recommendations for improving the positioning characteristics of robots.

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