Volume Calculation and Error Analysis of the Working Space of the Manipulator Based on the Principle of Calculus

Abstract

The work space is one of the important indicators of the flexibility of the robot arm movement, it can be used to assess institutional performance. Therefore, the volume calculation and error analysis of the workspace are particularly important. To this end, this paper proposes a new algorithm for calculating the workspace volume, taking the holding arm of a self-designed laparoscopic surgical robot as the research object. First, the Monte Carlo method was used to solve the working space of the arm. Then, the volume of the regular workspace of the manipulator with unlimited joint angles is solved by the method in this paper and the geometric method, and the volume calculated by the geometric method is used as the standard value to analyze the error of the workspace volume solved by the method proposed in this paper. Finally, the optimal parameters are obtained through error analysis, and the working space volume of the robot arm that limits the joint angle is solved, which lays a theoretical foundation for subsequent robot arm configuration optimization.