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

页码：1249 / 1260

页数：12

共 50 条

[31] Analytical modeling method for joint friction in harmonic drive robot
Dong, Fangfang
He, Jiajian
Zhao, Xiaomin
Han, Jiang
Huang, Xiaoyong
Zhang, Xinrong
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2024, 38 (06) : 3101 - 3111
[32] Dynamics modeling and quantitative analysis of multibody systems including revolute clearance joint
Bai, Zheng Feng
Zhao, Yang
PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY, 2012, 36 (04): : 554 - 567
[33] Dynamic modeling of robot arm with joint flexibility and link flexibility manipulating a constrained object
Zhang, Chengxin
Yu, Yueqing
Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, 2003, 39 (06): : 9 - 12
[34] MODELING OF A FLEXIBLE LINK HAVING A PRISMATIC JOINT IN ROBOT MECHANISM - EXPERIMENTAL-VERIFICATION
YUH, J
YOUNG, T
BAEK, YS
PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, : 722 - 727
[35] Analysis of Robot Accuracy Assessed via its Joint Clearance by Virtual Prototyping Method
GUO Ling 1
InternationalJournalofPlantEngineeringandManagement, 2004, (01) : 25 - 34
[36] Motion control of industrial robots by considering serial two-link robot arm model with joint nonlinearities
Kim, Eui-Jin
Seki, Kenta
Iwasaki, Makoto
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2014, 28 (04) : 1519 - 1527
[37] Motion control of industrial robots by considering serial two-link robot arm model with joint nonlinearities
Eui-Jin Kim
Kenta Seki
Makoto Iwasaki
Journal of Mechanical Science and Technology, 2014, 28 : 1519 - 1527
[38] FRF based joint dynamics modeling and identification
Mehrpouya, Majid
Graham, Eldon
Park, Simon S.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2013, 39 (1-2) : 265 - 279
[39] Computational method of rigid multibody system dynamics considering cylindrical joint clearance
Zhao, G.-L., 1600, Chinese Vibration Engineering Society (32):
[40] Modeling of ADC-Based Serial Link Receivers With Embedded and Digital Equalization
Kiran, Shiva
Shafik, Ayman
Tabasy, Ehsan Zhian
Cai, Shengchang
Lee, Keytaek
Hoyos, Sebastian
Palermo, Samuel
IEEE TRANSACTIONS ON COMPONENTS PACKAGING AND MANUFACTURING TECHNOLOGY, 2019, 9 (03): : 536 - 548

← 1 2 3 4 5 →