...
| Linkage | Encoder Accuracy | Diagram |
|---|---|---|
| straight position, equal lengths | 5° each |
|
| straight position, decreasing lengths | 5° each |
|
| straight position, increasing lengths | 5° each |
|
| zig-zag, equal lengths | 5° each |
|
| Arbitrary angles, equal lengths | 5° each |
|
| straight position, equal lengths | 1°, 1°, 9°, 9° |
|
| straight position, equal lengths | 9°, 9°, 1°, 1° |
|
| straight position, decreasing lengths | 1°, 1°, 9°, 9° |
|
| straight position, decreasing lengths | 9°, 9°, 1°, 1° |  |
| straight position, increasing lengths | 1°, 1°, 9°, 9° |
|
| straight position, increasing lengths | 9°, 9°, 1°, 1° |
|
| zig-zag, equal lengths | 1°, 1°, 9°, 9° |
|
zig-zag, equal lengths | 9°, 9°, 1°, 1° |
|
| Arbitrary angles, equal lengths | 1°, 1°, 9°, 9° |
|
| Arbitrary angles, equal lengths | 9°, 9°, 1°, 1° |
|
From this we can draw a few crude conclusions. To get the smallest zone of tolerance at the end effector it is best to stick the most accurate sensors near the root of the arm. It is best to decrease the length of each linkage the farther you go from the root. This will also be true for repeatibility, and backlash of each joint.