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Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
ISBN:
9780791861615
No. of Pages:
496
Publisher:
ASME Press
Publication date:
2018
eBook Chapter
10 Infinitesimal Kinematics of Serial-kinematics Machines
Page Count:
42
-
Published:2018
Citation
Portman, VT. "Infinitesimal Kinematics of Serial-kinematics Machines." Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy. Ed. Portman, VT. ASME Press, 2018.
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To clear up an interrelationship between the nominal displacements and their deviations in the accuracy-related formulae, the links of the 2-DOF manipulator are renumbered as is shown in Figure 10.1. In these terms, the manipulation matrix, Eqs. (4.7), becomes
10.1
Error propagation: serial-type robots
10.2Error Propagation: Lathe
10.3Error Propagation: Multi-Axis Machine Tools
10.4Structural Jacobian matrix of serial-kinematics systems
10.5Diagnostics procedure: methodological example
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