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

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