Investigation on Dynamic Responses of Manipulator with Multiple Clearance Joints

被引：1
|
作者：
Bai, ZhengFeng [1 ]
Wang, XingGui [1 ]
Zhao, Yang [2 ]
机构：
[1] Harbin Inst Technol, Dept Mech Engn, Weihai 264209, Shandong, Peoples R China
[2] Harbin Inst Technol, Dept Astronaut Engn, Weihai 264209, Shandong, Peoples R China
来源：
NEW TRENDS IN MECHANICAL ENGINEERING AND MATERIALS | 2013年 / 251卷
关键词：
Clearance joint; Manipulator; Contact force; Dynamics responses; MULTIBODY SYSTEMS;
D O I：
10.4028/www.scientific.net/AMM.251.152
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The existence of clearance in joints of manipulator system is inevitable and the movements of the real manipulator are deflection from the ideal manipulator for the clearances. In this study, the effects of clearance on dynamic responses of real manipulator system with multiple clearance joints are investigated using a computational methodology. By applying the nonlinear continuous contact force model, the contact dynamics model in joint clearance is established and the friction effect is considered with the help of Coulomb friction model. Then the dynamics simulation is carried out and the dynamic characteristics of manipulator system with multiple clearance joints are investigated. The results show that the clearance leads to degradation of dynamic performance of the real manipulator system.
引用
收藏
页码：152 / +
页数：2
相关论文
共 50 条
  • [1] DYNAMIC COMPARISON OF A 3-DEGREES-OF-FREEDOM PARALLEL MANIPULATOR WITH MULTIPLE DRY CLEARANCE JOINTS AND WITH LUBRICATED JOINTS
    Zhang, Haodong
    Zhang, Xianmin
    Zhang, Xuchong
    Zhan, Zhenhui
    PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, 2018, VOL 4B, 2019,
  • [2] Investigation on Dynamic Interaction of Multiple Clearance Joints for Flap Actuation System
    Wan, Qi
    Liu, Geng
    Ma, Shangjun
    Tong, Ruiting
    6TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MECHANICAL ENGINEERING (ICMME 2019), 2020, 306
  • [3] A nonlinear dynamic characteristic modeling method of shift manipulator for robot driver with multiple clearance joints
    Chen, Gang
    Xu, Xinyao
    NONLINEAR DYNAMICS, 2022, 110 (01) : 219 - 236
  • [4] A nonlinear dynamic characteristic modeling method of shift manipulator for robot driver with multiple clearance joints
    Gang Chen
    Xinyao Xu
    Nonlinear Dynamics, 2022, 110 : 219 - 236
  • [5] A Study on Clearance Effects on Dynamic Responses of Robot Manipulator
    Liu, Tianxi
    Bai, Zhengfeng
    MECHANIKA, 2021, 27 (02): : 130 - 138
  • [6] Dynamic Response of Multibody Systems with Multiple Clearance Joints
    Flores, Paulo
    Lankarani, Hamid M.
    JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS, 2012, 7 (03):
  • [7] AN EXPERIMENTAL INVESTIGATION INTO THE DYNAMIC BEHAVIOR OF REVOLUTE JOINTS WITH VARYING DEGREES OF CLEARANCE
    HAINES, RS
    MECHANISM AND MACHINE THEORY, 1985, 20 (03) : 221 - 231
  • [8] Dynamic analysis of a planar multibody system with multiple revolute clearance joints
    Wang, Xupeng
    Lin, Wenzhou
    Ji, Xiaomin
    Gao, Zhu
    Bai, Xiaobo
    Guo, Yongxin
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2019, 233 (10) : 3429 - 3443
  • [9] Research on Dynamic Characteristic of Rudder Transmission System with Multiple Clearance Joints
    Wan Q.
    Liu G.
    Song C.
    Ma S.
    Tong R.
    Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University, 2020, 38 (05): : 994 - 1000
  • [10] DYNAMIC COORDINATION IN A MANIPULATOR WITH 7 JOINTS
    EGELAND, O
    SAGLI, JR
    HENDSETH, S
    WILHELMSEN, F
    PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, : 125 - 130
12345