0
Article

A New Technique for Clearance Influence Analysis in Spatial Mechanisms

[+] Author and Article Information
Stefano Venanzi, Vincenzo Parenti-Castelli

vincenzo.parenticastelli@mail.ing.unibo.it DIEM-Department di Ingegneria Meccanica, University of Bologna, Viale Risorgimento, 2, 40136 Bologna, Italia

J. Mech. Des 127(3), 446-455 (Jul 16, 2004) (10 pages) doi:10.1115/1.1867512 History: Received April 15, 2004; Revised July 16, 2004

This paper presents a technique for assessing the influence that clearance in the kinematic pairs of a mechanism has on accuracy. The technique works for both planar and spatial, open-, and closed-chain mechanisms, but not for overconstrained mechanisms. It can be defined deterministic, because it precisely determines the actual pose of the link of interest, and does not rely on probability density functions. The most innovative aspect is that, unlike other existing techniques, knowledge of the forces acting on the mechanism is not needed; on the contrary, given a mechanism configuration, the maximum pose error of the link of interest—that is, the maximum displacement of the link of interest caused by clearance take-up—is directly determined. In this way, a problem which is intrinsically kinematic is solved by a kinematic method, rather than by a kinetostatic one as usually done in the literature. This allows for a more general approach to the clearance problem, as it removes one of the inputs (the external load) usually required for a kinetostatic analysis. The numerical effectiveness of the method is shown on a pure translational parallel manipulator.

FIGURES IN THIS ARTICLE
<>
Copyright © 2005 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Revolute pair and coordinate system

Grahic Jump Location
Figure 2

First contact mode for the revolute pair

Grahic Jump Location
Figure 3

Second contact mode for the revolute pair

Grahic Jump Location
Figure 4

Third contact mode for the revolute pair

Grahic Jump Location
Figure 5

Fourth contact mode for the revolute pair

Grahic Jump Location
Figure 6

Cylindrical pair and coordinate system

Grahic Jump Location
Figure 7

Spherical pair and coordinate system

Grahic Jump Location
Figure 8

Tsai manipulator

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In