Mathematical Problems in Engineering

Research Article

Positioning Accuracy and Numerical Analysis of the Main Casting Mechanism of the Hybrid Casting Robot

Table 3

Influence of geometric parameter error on terminal accuracy.
 Δx, Δy, and Δz Δα, Δβ, and Δγ
10−3∼100ae1, 01, ae1, 12, ae1, 2310−5∼100αe1, 01, αe1, 12, αe1, 23,
αe1, 34, αe1, 45, αe1, 56,
αe1, 6o, θe1, 0, θe1, 1,
θe1, 4, θe1, o
ae1, 34, ae1, 45, ae1, 56
ae1, 6o, αe1, 01, αe1, 12
αe1, 23, αe1, 34, αe1, 45
αe1, 56, de1, 1, de1, 2, de1, 3, de1, 4, de1, 5, de1, 6, de1, o, θe1, 0, θe1, 1, θe1, 4
10−6∼10−4αe1, 6o, θe1, o10–6ae1, 01, ae1, 12, ae1, 23,
ae1, 34, ae1, 45, ae1, 56,
ae1, 6o, de1, 1, de1, 2,
de1, 3, de1, 4, de1, 5,
de1, 6, de1, o
The error parameter of magnitude 100 mm is as follows: X: Δαe1, 12, Δαe1, 23, Δαe1, 34, Δαe1, 56, Δθe1, 1, Δθe1, 4 and ΔY: Δαe1, 01.