The Dynamics Modeling of Serial Robot with Joint Clearance Based on the Massless Link Method

被引：1
|
作者：
Chen, Chanyuan [1 ]
Yang, Lixin [1 ]
Huang, Yanjiang [1 ]
Zhou, Haopeng [1 ]
Zhang, Jinying [1 ]
Zhang, Xianmin [1 ]
机构：
[1] South China Univ Technol, Sch Mech & Automot Engn, Guangdong Prov Key Lab Precis Equipment & Mfg Tec, Guangzhou 510640, Guangdong, Peoples R China
来源：
MECHANISM AND MACHINE SCIENCE | 2017年 / 408卷
基金：
中国国家自然科学基金;
关键词：
Massless link method; Dynamics modeling; Clearance angle; PLANAR MECHANICAL SYSTEMS;
D O I：
10.1007/978-981-10-2875-5_100
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A general and comprehensive dynamics modeling of serial robot with clearance in joint is presented throughout this work. The key point in this paper is to treat the joint clearance as a massless link, which directly relate to the dynamics modeling of the mechanism. Using the massless link method, combined with the Lagrange method and the D'Alembert's principle, a computational methodology for purpose of solving the clearance angle, is presented. With the clearance size calculated, the terminal position of robot manipulator can be derived, which provides a reference for subsequent robot control.
引用
收藏
页码：1249 / 1260
页数：12
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