WHITE PAPERS: ACCURACY

In gearboxes and mechatronic setups, accuracy is crucial on two fronts: at the component level, where even small discrepancies matter, and at the system level, where these discrepancies can amplify into major positioning errors.

Errors that lead to the poor positioning accuracy of robots can be divided into two categories: geometric errors and non-geometric errors.

• Geometric errors are caused by manufacturing: they are the discrepancies between a system’s designed kinematic parameters (like link lengths, offsets, joint angles, and twists) and the actual physical build, which lead to positioning deviation.
• Non-geometric errors are dynamic deviations in positioning caused by effects like joint deformation, backlash, and other load-dependent phenomena.

However, it is difficult to compensate for the non-geometric errors by modelling. Those errors come from the component nature of the system, which is where the Archimedes Drive Delivers a major advantage.  As a very accurate component, it results in limiting the non- geometric errors.

When it comes to transmission systems in a mechatronic system: Accuracy values represent the difference between the theoretical angle and the actual angle of output for any given input. When we say the Archimedes Drive is “very accurate,” we mean that for any given input, the resulting output angle closely matches the target angle, leaving only a minimal difference between the commanded position and the actual position.

Our goal in this series of articles is to substantiate this claim with empirical evidence. Moreover, we will focus on accuracy alone, not repeatability. As repeatability is relatively easier to obtain with stable control algorithms and a well-calibrated system. Accuracy, however, requires precise mechanical design, high stiffness, and elimination of backlash and compliance—factors that the Archimedes Drive optimizes inherently.