Contact us
 |
[email protected] |
 |
3275638434 |
 |
 |
| Paper Publishing WeChat |
Useful Links
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License
Article
Author(s)
Oscar Altuzarra, Jokin Aginaga, Charles Pinto and Xabier Iriarte
Full-Text PDF
XML 151 Views
DOI:10.17265/2159-5275/2012.01.007
Affiliation(s)
ABSTRACT
Clearances at joints cause an uncertainty in the actual posture of the end-effector of any mechanism. This uncertainty relays on the clearance dimension and the way these clearances are taken up by the mechanism under the load and the inertial effects at every instant. As a matter of fact, the actual measure of the pose error is often replaced by an uncertainty measure. However, a side effect of the existence of clearances is that they can cause sudden changes in the posture of the mechanism as a motion is performed. Such discontinuities in the position produce task defects and impacts. In this work a tool to determine the pose error due to clearances is presented together with a discontinuity analysis. In addition, effects of mass distribution and inertial effects on such discontinuities are expounded, taking a 3-PRS robot as example.
KEYWORDS
Parallel manipulator, clearance, position error, discontinuity
Cite this paper
References