A new technique for clearance influence analysis in spatial mechanisms

Journal of Mechanical Design

Volumn 127, Issue 3, 2005, Pages 446-455

  Venanzi, Stefano ^a   Parenti Castelli, Vincenzo ^a  

^a UNIVERSITY OF BOLOGNA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

APPROXIMATION THEORY; COMPUTATIONAL COMPLEXITY; GEOMETRY; MANIPULATORS; MATRIX ALGEBRA; MECHANISMS; NUMERICAL METHODS; SYSTEMS ANALYSIS;

CLEARANCE INFLUENCE ANALYSIS; KINETOSTATIC ANALYSIS; NUMERICAL EFFECTIVENESS; SPATIAL MECHANISMS; TRANSLATIONAL PARALLEL MANIPULATOR;

KINEMATICS;

EID: 20544448691     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.1867512     Document Type: Article

References (30)

1. Wilson, R., and Fawcett, J. N., 1974, "Dynamics of the Slider Crank Mechanism with Clearance in the Sliding Bearing," Mech. Mach. Theory, 9, pp. 61-67.
2. Dubowsky, S., 1974, "On Predicting the Dynamic Effects of Clearances in Planar Mechanisms," ASME J. Eng. Ind., 95, pp. 317-323.
3. Dubowsky, S., and Gardner, T. N., 1975, "Dynamic Interaction of Link Elasticity and Clearance Connections," ASME J. Eng. Ind., 97, pp. 652-661.
4. Earles, S. W., and Wu, C. L. S., 1977, "A Determination of Contact Loss at a Bearing of a Linkage Mechanism," ASME J. Eng. Ind., 99, p. 375.
5. Haines, R. S., 1980, "A Theory of Contact Loss at Revolute Joints with Clearance," J. Mech. Eng. Sci., 22, pp. 129-136.
6. Mayourian, M., and Rastegar, J., 1990, "Stochastic Modeling of the Mechanical Behavior of Mechanisms in the Presence of Joint Clearance," Proceedings of the 1990 ASME Mechanisms Conference, Chicago.
7. Yin, Z. W., and Wu, J. K., 1990, "An Optimal Synthesis of Linkages considering Structural Error and Clearances," Proceedings of the 1990 ASME Mechanisms Conference, Chicago.
8. Schwab, A. L., Meijaard, J. P., and Meijers, P., 2002, "A Comparison of Revolute Joint Clearance Models in the Dynamic Analysis of Rigid and Elastic Mechanical Systems," Mech. Mach. Theory, 37, pp. 895-913.
9. Hahn, H., 1994, "Mathematical Modelling and Computer Simulation of Rigid Body Systems Including Spatial Joints with Clearance," Proceedings of the 1st Joint Conference of International Simulation Societies, Zurich, Switzerland.
10. Phillips, J., 1971, "Geometry of Backlash in Spatial Mechanisms," in Proceedings of the 3rd World Congress on the Theory of Mechanisms and Machines, Kupari, Yugoslavia, pp. 339-354.
11. Horie, M., Funabashi, H., Ogawa, K., and Kobayashi, H., 1985, "A Displacement Analysis of Spatial Four-Bar Mechanisms," Bull. JSME, 28, pp. 1535-1542.
12. Bodur, I. N., and Derby, S. J., 1988, "Analysis and Modelling of the Positioning Inaccuracy of Industrial Manipulators in Off-Line Programming Part I: Due to Static Forces and Joint Clearances," Proceedings of ASME Conference, Kissimmee, FL, pp. 383-391.
13. Biswas, A., and Kinzel, G. L., 1998, "An Iterative Kinematic and Force Solution Method for Revolute Joints with Clearance," Proceedings of the 1998 ASME Design Engineering Technical Conference, Paper No. DETC98/MECH-5491, Atlanta.
14. Tischler, C. R., and Samuel, A. E., 1998, "Predicting the Slop of In-Series/ Parallel Manipulators Caused by Joint Clearances," Advances in Robot Kinematcs and Control, J. Lenarčič and M. L. Husty, eds., Kluwer Academic, Dordrecht, pp. 227-236.
15. Innocenti, C., 1999, "A Static-Based Method to Evaluate the Effect of Joint Clearances on the Positioning Errors of Planar Mechanisms," Proceedings of the 10th World Congress on the Theory of Machines and Mechanisms, Oulu, Finland, pp. 650-655.
16. Innocenti, C., 2002, "Kinematic Clearance Sensitivity Analysis of Spatial Structures with Revolute Joints," ASME J. Mech. Des., 124, pp. 52-57.
17. Parenti-Castelli, V., and Venanzi, S., 2002, "A New Deterministic Method for Clearance Influence Analysis in Spatial Mechanisms," Proceedings of the 2002 ASME International Mechanical Engineering Congress and Exposition, New Orieans, LA.
18. Voglewede, P., and Ebert-Uphoff, I., 2004, "Application of Workspace Generation Techniques to Determine the Unconstrained Motion of Parallel Manipulators," ASME J. Mech. Des., 126, pp. 283-290.
19. Dhande, S. G., and Chackraborty, J., 1978, "Mechanical Error Analysis of Spatial Linkages," ASME J. Mech. Des., 100, pp. 732-738.
20. Wei-Liang, X., and Qi-Xian, Z., 1989, "Probabilistic Analysis and Monte Carlo Simulation of the Kinamtic Error in a Spatial Linkage," Mech. Mach. Theory, 24, pp. 19-27.
21. Shi, Z., 1997, "Synthesis of Mechanical Error in Spatial Linkages Based on Reliability Concept," Mech. Mach. Theory, 32, pp. 255-259.
22. Li, S., Xianmin, Z., and Jian, Y., 1998, "Error Transfer of Planar Linkages with Pair Clearance (Part 1, The Error Transfer Coefficient of Experimental and Practical Mechanism)," Proceedings of the 1998 ASME Design Engineering Technical Conference, Paper No. DETC98/ MECH-5913.
23. Zhu, J., and Ting, K. L., 2000, "Uncertainty Analysis of Planar and Spatial Robots with Joint Clearances," Mech. Mach. Theory, 35, pp. 1239-1256.
24. Xu, W., and Zhang, Q., 1987, "On the Method of Combining Small Displacements in Studying the Kinematic Errors od Spatial Open- and Closed-Loop Linkages," in Proceedings of the 7th World Congress on the Theory of Machines and Mechanisms, Sevilla, Spain, pp. 219-222.
25. Huang, Z., 1987, "Error Analysis of Position and Orientation in Robot Manipulators," Mech. Mach. Theory, 22, pp. 577-581.
26. Wang, H. H. S., and Roth, B., 1988, "Position Errors of Manipulators"Proceedings of the 6th CISM IFToMM Symposium of Theory and Practice of Robots and Manipulators, Udine, Italy.
27. Wang, H. S., and Roth, B., 1988, "Position Errors Due to Clearance in Journal Bearing," ASME J. Mech., Transm., Autom. Des., 111, pp. 315 320.
28. Venanzi, S., 2004, "Methods for Clearance Influence Analysis in Planar and Spatial Mechanisms," Ph.D. dissertation, University of Bologna, Bologna, Italy.
29. Reddy, J. N., 1986, Applied Functional Analysis and Variational Methods in Engineering, McGraw-Hill, New York.
30. Tsai, L. W., 1996 "Kinematics of a Three-Dof Platform with Three Extensible Limbs", Recent Advancs in Robot Kinematics, edited by J. Lenarcic and V. Parenti-Castelli, Kluwer Academic, Dordrecht, pp. 401-410.