Dynamics investigation of spatial parallel mechanism considering rod flexibility and spherical joint clearance

Wang, Gengxiang; Wang, Liang

doi:10.1016/j.mechmachtheory.2019.03.017

Cited by 40 publications

(19 citation statements)

References 55 publications

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“…Complicated coupling effect exist between clearance joint and parts’ flexibility on the multi-link articulated mechanism. 30,31 Some scholars focused on the reliability improvement and decrease of undesired effects of clearance joint by applying that coupling effect. For instance, Erkaya et al 32 replaced the rigid parts in the mechanical system with more flexible counterparts, by that method, the vibration energy introduced by clearance joint was dissipated by the damping effect of flexible components.…”

Section: Introductionmentioning

confidence: 99%

Experimental investigations of the dynamic responses of a multi-link mechanism with revolute clearance joints

Zhao

Xie

et al. 2021

Advances in Mechanical Engineering

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Joint clearance is unavoidable in the revolute joint of multi-link mechanism. Excessive value of joint clearance generally leads to the noise, vibration, and fatigue failure. In this paper, a multi-link articulated mechanism system with three revolute clearance joints is selected as the study object. At first, its ideal motion equations and dynamic responses without joint clearance are outlined. Then an experimental rig is set up, and the acceleration responses of the mechanism in different scenarios are investigated. Comparative analysis indicates that in the presence of joints clearance, clear periodic transient impacts appear in the acceleration outputs while this mechanism moves to specific positions, and the impacts amplitude increases along with the clearance size and driving speed. Also, certain sequence among three motion states of clearance joint, named free flight, penetration and continuous-contact is observed twice in one circle movement of the mechanism. Besides, the clearance joint at the end of the transmission chain has greater effects on the mechanism system than the other joints. Finally, flexible rubber sleeves are set into the clearance joints, and the obtained experimental results indicate that the undesired transient impact by clearance joints on the mechanical system can be suppressed by flexible sleeves.

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Section: Introductionmentioning

confidence: 99%

Experimental investigations of the dynamic responses of a multi-link mechanism with revolute clearance joints

Zhao

Xie

et al. 2021

Advances in Mechanical Engineering

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“…A typical solar array model was used as application example. Wang et al [36] studied the dynamic model of 4-SPS/PS parallel mechanism with a flexible actuated rod and clearance spherical joint. Pi and Zhang [37] presented a study of dynamic analysis of the classical planar slidercrank mechanism with multiple revolute clearance joints.…”

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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“…Zhao et al [39] proposed a new analysis approach for a planar model based on the clearance joint, but only a single clearance joint is considered. Wang et al [40] and Tang et al [41] respectively presented two approaches of dynamic model with clearance joint, but deep dynamic characteristic analysis of the clearance joint is not conducted. Most of the research on clearance joint is limited to simple mechanisms and single clearance joint.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Dynamic Characteristics Analysis of Shift Manipulator for Robot Driver with Multiple Joint Clearance

Chen

2021

Preprint

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The clearance joint is very important to the nonlinear dynamic characteristics of mechanism. This paper presents a nonlinear dynamic characteristic model of shift manipulator for robot driver based on multiple revolute clearance joints to improve dynamic characteristics. The relative penetration depth and velocity between pin and bushing are obtained by establishing the kinematic model of the shift manipulator with clearance joint. Based on the improved L-N contact force model and the modified Coulomb friction model, the normal contact force and the tangential contact force of clearance joint are analyzed. With full clearance joints, the nonlinear dynamic characteristic model of the shift manipulator for robot driver is established. The nonlinear dynamic characteristic laws of the shift manipulator including the end displacement, velocity, acceleration and active joint driving torque are analyzed by different sizes of clearance joints. And the performance test of the shift manipulator for robot driver is conducted. The results demonstrate that the nonlinear dynamic characteristics are well analyzed and verified through the presented characteristic model with clearance joints.

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Dynamics investigation of spatial parallel mechanism considering rod flexibility and spherical joint clearance

Cited by 40 publications

References 55 publications

Experimental investigations of the dynamic responses of a multi-link mechanism with revolute clearance joints

Experimental investigations of the dynamic responses of a multi-link mechanism with revolute clearance joints

A Study on Clearance Effects on Dynamic Responses of Robot Manipulator

Nonlinear Dynamic Characteristics Analysis of Shift Manipulator for Robot Driver with Multiple Joint Clearance

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