Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
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Actual machine motions are inevitably accompanied by small non-designed deviations of position and orientation of all the links, relative to each other. The sum of the elementary errors together with their transfer coefficients presents the error budget . The number of the errors associated with all interacting links is several dozens, and an effective way to analyze their contribution to the machine accuracy and precision is formulated as total variation of the FSF . In this chapter, a linearized mathematical model for a budget of geometric and kinematic errors suitable for the FSS of serial-, parallel-, and hybrid-kinematics machines is described.