Assessing Position Error Due to Clearances and Deformations of Links in Parallel Manipulators

Aginaga, Jokin; Altuzarra, Oscar; Macho, Erik; Iriarte, Xabier

doi:10.1115/1.4023633

Cited by 20 publications

(13 citation statements)

References 24 publications

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“…Sun and his co-authors [477] also studied mechanisms with clearance joints and flexible elements, such as the connecting rod in a slider-crank mechanism. Aginada et al [497] presented a numerical procedure for the pose error calculation of parallel manipulators due to clearances and elastic deformations. The proposed formulation uses a simple way to included clearance effects and elastic deformations in the same loop equations.…”

Section: Link Flexibility In Mechanisms With Clearance Jointsmentioning

confidence: 99%

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

Tian

Flores

Lankarani

2018

Mechanism and Machine Theory

305

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A comprehensive survey of the literature of the most relevant analytical, numerical, and experimental approaches for the kinematic and dynamic analyses of multibody mechanical systems with clearance joints is presented in this review. Both dry and lubricated clearance joints are addressed here, and an effort is made to include a large number of research works in this particular field, which have been published since the 1960's. First, the most frequently utilized methods for modeling planar and spatial multibody mechanical systems with clearance joints are analyzed, and compared. Other important phenomena commonly associated with clearance joint models, such as wear, non-smooth behavior, optimization and control, chaos, and uncertainty and links' flexibility, are then discussed. The main assumptions procedures and conclusions for the different methodologies are also examined and compared. Finally, future developments and new applications of clearance joint modeling and analysis are highlighted.

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Section: Link Flexibility In Mechanisms With Clearance Jointsmentioning

confidence: 99%

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

Tian

Flores

Lankarani

2018

Mechanism and Machine Theory

305

View full text Add to dashboard Cite

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“…It correlates the input time series u t t T { } =0 and the output time series y t t T { } =0 by the Eq. (10).…”

Section: Among the Various Artificial Neural Network (Ann)mentioning

confidence: 99%

“…An analytical model was presented to easily predict the pose error for a given external load, a nominal pose and the structural parameters [3]. A procedure to calculate the positional error in parallel manipulators due to both clearances and elastic deformations was proposed [10]. For analysing the location of the discontinuities, a methodology was presented and the advantages of approach were analysed using a 5R planar mechanism [11].…”

Section: Introductionmentioning

confidence: 99%

Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators

2018

SV-JME

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Accuracy is one of the key features that improves the quality of robotic manipulators for many industrial and medical applications. Even with an accurate design and manufacturing process, clearance problems in joints cannot be eliminated in articulated systems. This leads to a loss of accuracy in robotic manipulation. In this study, the effects of joint clearance in a robotic system are investigated. The need for the trajectory of end effector is considered to analyse the motion sensitivity. The kinematics and dynamics of a six-DOF robot with joint clearance are evaluated relative to a robot without joint clearance. Different scenarios for clearance values and working periods are performed to fulfil the required motion task. A neural model is also used to predict the trajectory deviations during the working process. The results show that clearance has a significant role in the motion sensitivity of robotic manipulations. Trajectory errors can also be determined by using a dynamic neural predictor with suitable input variables.

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“…For the aforementioned reasons, other factors are gradually considered in the stiffness model, such as limb deformation, [6][7][8] joint clearance, [9][10][11] joint contact deformation, [12][13][14][15] and others. 16 However, most models are a combination of two or three factors, such as actuator stiffness and limb deformation, 17,18 actuator stiffness and joint clearances, 19 joint clearances and limb deformation, 20,21 and others. 22,23 It can be seen that the previous studies focused on the partial factors, and there are few complete models.…”

Section: Introductionmentioning

confidence: 99%

Approximate Stiffness Modelling and Stiffness Defect Identification for a Heavy-load Parallel Manipulator

Fan¹,

Fan²

2019

Robotica

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SummaryWhen using parallel manipulators as machine tools, their stiffness is an important factor in the quality of the produced products. This paper presents an overall approximate stiffness model for a heavy-load parallel manipulator, which considers the effects of actuator stiffness, joint clearance, joint contact deformation, and limb deformation. Based on the principle of virtual work and the introduced modified parameters, the proposed overall compliance matrix successfully takes four factors into a unified expression. To obtain the overall compliance matrix, the approximate stiffness models of the joint clearance, joint contact deformation, and limb deformation are given. In addition, by combining the statistical simulation including the random uncertainties and the proposed approximate stiffness models as the basis of the magnitudes for each random variable, an approach based on the expected trajectory and external load is also proposed for stiffness defect identification such that the estimation is more accurate and reliable. Finally, a numerical example of the 1PU+3UPS parallel manipulator and a discussion are presented to demonstrate the practicability of the proposed stiffness model and defect identification approach. After modifying the structure parameters of the defective components, the prototype experiences a significant stiffness improvement.

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Assessing Position Error Due to Clearances and Deformations of Links in Parallel Manipulators

Cited by 20 publications

References 24 publications

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators

Approximate Stiffness Modelling and Stiffness Defect Identification for a Heavy-load Parallel Manipulator

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