Closed-form error space calculation for parallel/hybrid manipulators considering joint clearance, input uncertainty, and manufacturing imperfection

Zhao, Qiangqiang; Guo, Junkang; Hong, Jun

doi:10.1016/j.mechmachtheory.2019.103608

Cited by 21 publications

(8 citation statements)

References 33 publications

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“…Zhang et al [14] analyzed the sensitivity of geometric errors on an overconstrained tracking mechanism. Apart from the screw methods, methods based on Lie group theory [15] and geometric constraints [16,17] were also presented. Recently, there has been a growth of studies on accuracy analysis of parallel mechanisms considering geometric error and joint clearance from the dynamics point of view [18][19][20][21].…”

Section: Introductionmentioning

confidence: 99%

Accuracy analysis and error compensation for Tricept machine tool under load

Jian

Wang

2021

J Mech Sci Technol

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This paper provides an efficient way to estimate the accuracy performance of the Tricept machine tool under load. Both joint clearances and link flexibility are considered. Clearances of the spherical joints and universal joint are considered, and the small change in link length arisen from clearances and deformation is modeled with the hyperbolic function. The kinetostatic model for accuracy analysis is obtained by balancing the employed load and the elastic forces provided by limbs. Moreover, an error compensation method for the Tricept machine tool under load is presented. The proposed methods are further illustrated and validated using a study case, and the feasibility of the error compensation method is discussed. This paper gives a deep insight into the effects of clearances, flexibility and loads on the accuracy performance of the Tricept-like mechanisms and instructive conclusions are drawn for accuracy improvement.

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Section: Introductionmentioning

confidence: 99%

Accuracy analysis and error compensation for Tricept machine tool under load

Jian

Wang

2021

J Mech Sci Technol

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“…Chen et al 19 analyzed the effect of multiple clearances and friction on the dynamics of mechanical systems. Additionally, many studies also focused on various kinds of mechanisms with clearance joints considering parameter uncertainty, 20,21 joint wear, 22,23 design optimization, 24 lubrication in clearance joint, 25,26 flexible body, 9,27 and other topics. Also, recently, researchers are focusing on 3D revolute clearance joints 28–31 .…”

Section: Introductionmentioning

confidence: 99%

Numerical and experimental study on dynamics of the planar mechanical system considering two revolute clearance joints

Bai

Zhao

2021

Int Journal of Mech Sys Dyn

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Due to assembly, wear and manufacturing errors and clearance in the joints are inevitable. When the clearance is introduced into a mechanical system, the impact force in the clearance joint will cause undesirable vibration of the system. In this paper, the dynamic responses of the mechanical system with two revolute clearance joints are studied using computational and experimental methodology. The clearance joint is considered as force constraint. The normal contact force and tangential friction force between the journal and bearing in a clearance joint are modeled using a nonlinear contact force model considering energy loss and a modified Coulomb friction model considering a dynamic friction coefficient, respectively. A planar slider-crank mechanism with two revolute clearance joints is used to implement the study. The dynamic responses obtained from numerical simulation are compared with the experimental test. Numerical simulations and experimental tests for different clearance sizes and crank speeds are presented and discussed, respectively.The simulation results agree quite well with those of the experiment for different cases, which proves the accuracy and efficiency of the computational method for dynamics analysis of the mechanical system with two revolute clearance joints in this study. The investigation indicates that the clearances in revolute joints significantly affect the dynamic characteristics of mechanical systems, which must be considered in the precision analysis, design, and control of multibody systems, especially for high-speed machinery.

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“…The issue of uncertainties plays a significant role in the actual performance of a mechanism. In mechanism literature, their effects are generally studied using statistical and probabilistic approaches [10][11][12][13] or interval analysis [14][15][16][17] approaches. In the four-bar linkage, uncertainties make it no longer possible to obtain an exact solution for the coupler point and thus exact synthesis is not applicable.…”

Section: Introduction To Linkage Synthesismentioning

confidence: 99%

Appropriate synthesis of the four-bar linkage

Pickard

Carretero

Merlet

2020

Mechanism and Machine Theory

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The uncertainties arising from the fabrication and operation of mechanisms, specifically the four-bar linkage, significantly affect the expected performance of the mechanism. To accommodate uncertainties during the dimensional synthesis of the four-bar linkage, the desired coupler curve response is described by any number of precision point elements and trajectory elements, where each element is specified with an allowable error. A design description which accounts for bounded uncertainties is termed an appropriate design. An appropriate synthesis method is developed to synthesize the entire set of appropriate design solutions corresponding to the desired response. This method is able to completely explore the continuous design space and each synthesized appropriate design guarantees that the resulting four-bar linkage has a corresponding coupler point which lies inside each precision point response element, and a corresponding set of continuous coupler points which remain inside the trajectory response elements from start to finish.

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Closed-form error space calculation for parallel/hybrid manipulators considering joint clearance, input uncertainty, and manufacturing imperfection

Cited by 21 publications

References 33 publications

Accuracy analysis and error compensation for Tricept machine tool under load

Accuracy analysis and error compensation for Tricept machine tool under load

Numerical and experimental study on dynamics of the planar mechanical system considering two revolute clearance joints

Appropriate synthesis of the four-bar linkage

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