Accuracy analysis and optimization of articulatedbelt deceleration manipulator
                                                                            XIA Li, LUO Luping, XU Qi
                 (Key Laboratory of Ministry of Education, Zhejiang University of Technology, Hangzhou 310014, China)

Abstract: Aiming at the low accuracy reliability and the high manufacturing cost of the joint type of synchronous belt deceleration mechanical arm, the robotic arm error modeling, precision reliability analysis and precision optimization design were studied. An accuracy error model considering the length of arm, the joint clearance and the flexible coupling of synchronous belt were built by using flexible multibody theory, the model uncertainty parameters were obtained through the experimental method. Based on the reliability of the model which was developed by applying first order second moment method for reliability analysis. By comparing the comparative calculation accuracy reliability and measurement reliability, the correctness of the model was certified. Based on the sensitivity analysis of reliability and optimization process, the constraint optimization model which was based on the lowest manufacturing cost as the objective accuracy and reliability was built, then the genetic algorithm in Matlab toolbox was used for the design of mechanical arm precision optimization . The results indicate that the relative error of calculation accuracy reliability and measured reliability is 0.16% and 0.32%, and the acceleration of the large arm and the small arm is the main error factor. After optimizing, the X, Y axis reliability is increased to 99.71% and 99.78% respectively, the manufacturing costs is reduced by 27.92% comparing with the experience in design, for joint type synchronous belt provides the theory basis for design and manufacture of mechanical arm deceleration.

Key words: articulated belt deceleration manipulator; coupling error model; joint clearance; timing belt flexibility; accuracy optimization