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TECHNICAL PAPERS

Kinematic Clearance Sensitivity Analysis of Spatial Structures With Revolute Joints (*)

[+] Author and Article Information
Carlo Innocenti

Department of Engineering Sciences, University of Modena and Reggio Emilia, via Vignolese, 905 41100 Modena, Italye-mail: carlo.innocenti@unimo.it

J. Mech. Des 124(1), 52-57 (Nov 01, 1999) (6 pages) doi:10.1115/1.1436088 History: Received November 01, 1999
Copyright © 2002 by ASME
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References

Garrett,  R. E., and Hall,  A. S., 1969, “Effect of Tolerance and Clearance in Linkage Design,” ASME J. Eng. Ind., 91, Series B, February, pp. 198–202.
Sharfi,  O. M. A., and Smith,  M. R., 1983, “A Simple Method for the Allocation of Appropriate Tolerances and Clearances in Linkage Mechanisms,” Mech. Mach. Theory, 18, pp. 123–129.
Kolhatkar,  S. A., and Yajnik,  K. S., 1970, “The Effects of Play in the Joints of a Function-Generating Mechanism,” Journal of Mechanisms, 5, pp. 521–532.
Phillips, J., 1971, “Geometry of Backlash in Spatial Mechanism,” Proc. of the 3rd World Congress for the Theory of Machines and Mechanisms, Kupari, Yugoslavia, Sept. 13–20, Paper H-25, pp. 339–354.
Dhande,  S. G., and Chakraborty,  J., 1973, “Analysis and Synthesis of Mechanical Error in Linkages—A Stochastic Approach,” ASME J. Eng. Ind., August, pp. 672–676.
Dubowsky,  S., Maatuk,  J., and Perreira,  N. D., 1975, “A Parameter Identification Study of Kinematic Errors in Planar Mechanisms,” ASME J. Eng. Ind., May, pp. 635–642.
Schade, G. R., and Lai, S. C., 1983, “Effects of Bearing Clearance on Coupler-Point Position,” Proc. of the 8th Oklahoma State University Applied Mechanisms Conference, Sept. 19–21, St. Louis, MI, Paper No. 76.
Ting,  K.-L., Zhu,  J., and Watkins,  D., 2000, “The Effects of Joint Clearances on Position and Orientation Deviation of Linkages and Manipulators,” Mech. Mach. Theory, 35, pp. 391–401.
Kinzel, G. L., and Hall, A. S., 1975, “Tolerances and Clearances in Instrumented Spatial Chains,” Proceedings of the Institution of Mechanical Engineers, pp. 185–191.
Lin,  P. D., and Chen,  J. F., 1992, “Accuracy Analysis of Planar Linkages by the Matrix Method,” Mech. Mach. Theory, 27, No. 5, pp. 507–516.
Vocaturo,  J. M., 1983, “Evaluating the Repeatability of Linkages,” Mach. Des., June 23, pp. 67–71.
Innocenti, C., 1999, “A Statics-Based Method to Evaluate the Effect of Joint Clearances on the Positioning Errors of Planar Mechanisms,” Proc. of the IFToMM Tenth World Congress on the Theory of Machines and Mechanisms, Oulu, Finland, June 20–24, 2 , pp. 650–655.
Wang,  H. H. S., and Roth,  B., 1989, “Position Errors Due to Clearances in Journal Bearings,” ASME J. Mech., Transm., Autom. Des., 111, No. 3, pp. 315–320.
Tsai, L. W., 1996, “Kinematics of a Three-DOF Platform with Three Extensible Limbs,” Recent Advances in Robot Kinematics, Kluwer Academic Publishers, ISBN 0-7923-4124-4, pp. 401–410.

Figures

Grahic Jump Location
A spatial structure with revolute joints
Grahic Jump Location
A revolute joint with clearance
Grahic Jump Location
The structure derived from the Tsai manipulator

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