Investigation on Dynamic Responses of Manipulator with Multiple Clearance Joints

被引：2

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

页码：152 / +

页数：2

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