Analysis of the positioning accuracy of an NM7M-MAR robot manipulator

The results of a numerical analysis of the positioning accuracy of an NM7M-MAR manipulator gripping device in the main working space of the robot are presented. The concept of the positioning analysis involves the problem of the gripping device position accuracy and changes in the orientation determined in the local reference frame of the gripping device and caused by positioning inaccuracies of links in manipulator kinematic pairs. The positioning accuracy of a RPPP type robot manipulator with four generalised co-ordinates with an additional degree of freedom in the form of rotation of the gripping device around its axis of fixation has been analysed. The presented engineering analysis has been conducted in order to describe analytically positioning properties of an actual NM7M-MAR robot in its main working space. It is an introduction to the analysis of manipulator mechanical vibrations.