Analysis of angular errors of the planar multi-closed-loop deployable mechanism with link deviations and revolute joint clearances

Zhao, Qiangqiang; Guo, Junkang; Hong, Jun; Liu, Zhigang

doi:10.1016/j.ast.2019.02.013

Cited by 34 publications

(13 citation statements)

References 35 publications

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“…(3) Due to dR = ΔRR [28], ui T dRai can be further derived as (5) Note that the length deviation is much smaller than the normal length. Hence, the length deviation can be regarded as a small quantity, namely dli = Δli, dr =Δr and dai = Δai.…”

Section: Assembly Deviation Modeling Of the Structure Without The Auxiliary Linkmentioning

confidence: 99%

“…Here, the extendible support structure (ESS) is designed to support the deployable SAR antennas with a stable and precise configuration [4]. Because of inevitable manufacturing imperfections and installation variations, the ESS often fails to meet the specified accuracy requirement [5]. Therefore, in practical engineering, it is indispensable to conduct dimensional adjustment of support links for achieving satisfactory accuracy.…”

Section: Introductionmentioning

confidence: 99%

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Link Adjustment for Assembly Deviation Control of Extendible Support Structures via Sparse Optimization

Guo

et al. 2021

IEEE Access

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The assembly accuracy of the extendible support structure is of importance for the imaging capability of synthetic aperture radar antennas. In general, due to manufacturing imperfections and installation variations, its assembly accuracy will be inevitably degraded. Therefore, controlling the assembly deviation is highly concerned in practice. To meet the accuracy requirement and make "the control" more efficient, this study proposes a novel method to quantitatively conduct dimensional adjustment of links for extendible support structures of synthetic aperture radar antennas. Since the extendible support structure is generally over-constrained in the deployed configuration, the relationship between the assembly deviation and the variation sources is first derived by means of equivalent transformation. Based on the mathematical expression of assembly deviation, an inequality constrained sparse optimization model for quantitatively resizing links is formulated. Then, an efficient algorithm integrating the alternating direction method of multipliers and binary search is developed to solve the above optimization model, thereby acquiring the optimal combination of link adjustment. Finally, numerical case studies are carried out to demonstrate the effectiveness of the proposed method in Matlab, which show that it can not only achieve satisfactory performance in prediction but also significantly improve the assembly efficiency.

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Section: Assembly Deviation Modeling Of the Structure Without The Auxiliary Linkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Link Adjustment for Assembly Deviation Control of Extendible Support Structures via Sparse Optimization

Guo

et al. 2021

IEEE Access

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“…In general, the clearances in joints are always neglected in dynamics modeling and analysis of mechanisms, such as robot manipulator systems. However, clearances are existed in joints of real mechanisms due to assemblage, manufacturing errors and wear [1][2][3][4][5][6][7][8]. Further, clearances will induce undesired effect on performances of real mechanism systems since of vibration caused by contact and impact in joints [9][10][11][12][13] Robot manipulators are widely used in dangerous jobs, such as manipulators designed and used in spacecraft.…”

Section: Introductionmentioning

confidence: 99%

A Study on Clearance Effects on Dynamic Responses of Robot Manipulator

Liu

Bai

2021

mech

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Clearances caused by assemblage, manufacturing errors and wear, affect inevitably the dynamic responses of mechanisms such as robot manipulator. In this study, the effects of clearance on a robot manipulator system are investigated numerically. The contact behavior along normal and tangential direction of clearance joint is described by a nonlinear contact force model and a modified Coulomb friction model respectively. Then, the dynamics equations of the robot manipulator system are established considering joint clearance. In order to investigate the effects of clearance on dynamic performances of practical mechanism, a planar robot manipulator system on a spacecraft system with a revolute clearance joint is used as the apply example. Four case studies for various clearance sizes are implemented to investigate and discuss the effects of joint clearance. The simulation results indicate that clearance joints have severe effects on the dynamic performances of mechanism system and the impact in clearance joints represented by contact force models must be considered in dynamics analysis and design of mechanism system. The simulation results in this work can predict the effects of clearance on robot manipulator system preferably and it is the basis of precision analysis, robust control system design of robot manipulator system.

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“…To ensure the guiding accuracy of optical components, Dong designed an adjustment mechanism with slit diaphragm flexure [20]. Zhao analyzed the effect of link deviation and joint clearance on the angle error of the radar antenna deployment mechanism, and proposed a mechanism for adjusting the angle error [21]. Based on the Denavit-Hartenberg method and geometric closure conditions, Lin analyzed the accuracy of spatial multi-loop mechanism effected by paired bearings support joint clearance [22].…”

Section: Introductionmentioning

confidence: 99%

Design and error compensation of active mechanically automated guided vehicle

Yan

Chen

2021

Mechanics & Industry

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To reduce the navigation control cost, this paper proposes a mechanical guidance control scheme that uses a cam-link mechanism as a steering control mechanism for an automated guided vehicle with a fixed driving path. According to the steering principle, a mathematical model of the steering system and the driving trajectory are established. By setting the boundary conditions, the vehicle trajectory is modeled using a quintic polynomial. The contour of the directional control cam is obtained based on the equation of the vehicle trajectory. Because errors occur in actual machining and assembly processes, errors will be classified based on their impact on the trajectory. The effects of various errors on the trajectory are quantitatively determined by using simulation methods with different parameters. Furthermore, an error compensation approach is designed to reduce the influence of the error on the trajectory directly or indirectly. Finally, experiment results illustrate that the adjustment accuracy of the proposed automated guided vehicle trajectory is 2 mm.

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Analysis of angular errors of the planar multi-closed-loop deployable mechanism with link deviations and revolute joint clearances

Cited by 34 publications

References 35 publications

Link Adjustment for Assembly Deviation Control of Extendible Support Structures via Sparse Optimization

Link Adjustment for Assembly Deviation Control of Extendible Support Structures via Sparse Optimization

A Study on Clearance Effects on Dynamic Responses of Robot Manipulator

Design and error compensation of active mechanically automated guided vehicle

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