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
相关论文
共 50 条
  • [21] Nonlinear dynamics modeling and analysis of two rods connected by a joint with clearance
    Wang, Yu
    Li, Feng-Ming
    APPLIED MATHEMATICAL MODELLING, 2015, 39 (09) : 2518 - 2527
  • [22] Joint dynamics modeling and parameter identification for space robot applications
    da Silva, AR
    Schäfer, B
    de Souza, LCG
    Fonseca, RA
    SPACEFLIGHT MECHANICS 2001, VOL 108, PTS 1 AND 2, 2001, 108 : 1351 - 1368
  • [23] Joint dynamics modeling and parameter identification for space robot applications
    da Silva, Adenilson R.
    Gadelha de Souza, Luiz C.
    Schaefer, Bernd
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2007, 2007
  • [24] Method for Estimating Combined Controller, Joint and Link Stiffnesses of an Industrial Robot
    Tyapin, Ilya
    Hovland, Geir
    Brogardh, Torgny
    2014 IEEE INTERNATIONAL SYMPOSIUM ON ROBOTIC AND SENSORS ENVIRONMENTS (ROSE 2014), 2014,
  • [25] Air rudder mechanism dynamics considering two elements: Joint clearance and link flexibility
    Li, Yuntao
    Quan, Qiquan
    Li, He
    Tang, Dewei
    Li, Zhonghong
    Fan, Wenyang
    Deng, Zongquan
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2017, 31 (07) : 3189 - 3197
  • [26] Nonlinear dynamics and control of crank-slider mechanism with link flexibility and joint clearance
    Yaqubi, Sadeq
    Dardel, Morteza
    Daniali, Hamidreza Mohammadi
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2016, 230 (05) : 737 - 755
  • [27] Air rudder mechanism dynamics considering two elements: Joint clearance and link flexibility
    Yuntao Li
    Qiquan Quan
    He Li
    Dewei Tang
    Zhonghong Li
    Wenyang Fan
    Zongquan Deng
    Journal of Mechanical Science and Technology, 2017, 31 : 3189 - 3197
  • [28] Influence of dynamic complexity on serial robots with joint clearance based on a nonlinearity measure
    Yang, Mingjian
    Jiang, Mian
    Xie, Lingbo
    Chen, Yong
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2025, 239 (05) : 1575 - 1591
  • [29] Modeling and calibration of high-order joint-dependent kinematic errors of serial robot based on local POE
    Zhang, Yujie
    Cui, Jing
    Li, Yang
    Chu, Zhongyi
    INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2023, 50 (05): : 753 - 764
  • [30] A method for dynamic modeling and simulation of the translational joint with clearance and LuGre friction
    Wang, Xiaojun
    MODERN PHYSICS LETTERS B, 2018, 32 (34-36):
12345