Study on the Accuracy of a 6-DOF Flexure Hinge-Based Robot

摘要

Flexure hinge-based parallel robots are reliable tools used in the high precision industry owing to their good positioning performances. However, manufacturing and assembly errors would bring deviations to the kinematic model of the robot. To enhance the positioning accuracy of robots, their actual impact on the accuracy should be evaluated, and the impact should be incorporated into the forward and inverse kinematic program of the controllers. Taking a 6 degree-of-freedom (DOF) flexure hinge-based robot for example, this paper presents and demonstrates a method named Linearization Coefficient Method (LCM) by which error impact can be evaluated when the robots are being designed.