A comparative study of planar 3-RRR and 4-RRR mechanisms with joint clearances

被引：42

作者：

Zhang, Xuchong ^{[1
]}

Zhang, Xianmin ^{[1
]}

机构：

[1] S China Univ Technol, Guangdong Prov Key Lab Precis Equipment & Mfg Tec, Guangzhou 510640, Guangdong, Peoples R China

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2016年 / 40卷

基金：

中国国家自然科学基金;

关键词：

Comparative study; Kinematics; Dynamics; Joint clearances; 3-RRR; 4-RRR; CONTACT FORCE MODELS; DYNAMIC-RESPONSE; IMPACT ANALYSIS; MULTIBODY SYSTEMS; PARAMETERS;

D O I：

10.1016/j.rcim.2015.09.005

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper presents a comparative study of the fully actuated 3-RRR mechanism and the redundantly actuated 4-RRR mechanism. The joint clearances are taken into consideration in both kinematic and dynamic analysis of the two mechanisms. In the kinematic analysis, the joint clearance is treated as a mass-less virtual link, and the error transfer equations of these mechanisms are obtained by the first derivation of the constraint equations. In the dynamic analysis, the joint clearance is fully described and the dynamic equations of the two mechanisms are derived using the Newton-Euler method. The dynamic equations are solved by using the two-step Bathe integration method. The results indicate that the 4-RRR mechanism shows better performances in both kinematics and dynamics when compared with the 3-RRR mechanism. (C) 2015 Elsevier Ltd. All rights reserved.

引用

页码：24 / 33

页数：10

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