Kinematics reliability analysis for manipulator considering elasticity

It has great significance to analyze the kinematics reliability of the manipulator, which can reflect the motion performance comprehensively. In paper, kinematics reliability of manipulator is discussed, and the mathematical description is derived when the manipulator is kinematics reliable. Taking elasticity factors into account, a multi-level model for the pose (position and posture) accuracy of the end-effector is established. As a result, the kinematics reliability model considering elasticity factors is achieved. Simulation is carried out with the established kinematics reliability model, which is verified to be feasible for the calculation of kinematics reliability. Meanwhile, the effects of elasticity factors on the kinematics reliability are analyzed, which show the impact degrees of various elasticity factors.