Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Methods and Applications of Interval Analysis (SIAM Studies in Applied and Numerical Mathematics) (Siam Studies in Applied Mathematics, 2.)
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In industry, the current practice concerning geometrical specifications for mechanical parts is to include both dimensions and tolerances. The objective of these specifications is to describe a class of functionally acceptable mechanical parts that are geometrically similar. To ensure that their functionality in respected during, assembly designers have to apply tolerance analysis. A model based on either worst-case or statistical type analysis may be used. This paper explains both types using the Jacobian-Torsor unified model. For statistical tolerance analysis we consider Monte Carlo simulation and for the worst case type we consider arithmetic intervals. Although the numerical example presented is for a three-part assembly, the method used is capable of handling three-dimensional geometry.