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RESEARCH PAPERS: Mechanisms Papers

Position Errors Due to Clearances in Journal Bearings

[+] Author and Article Information
H. H. S. Wang

Adept Technology, Inc., 150 Rose Orchard Way, San Jose, CA 95134

B. Roth

Dept. of Mech. Eng., Stanford University, Stanford, CA 94305

J. Mech., Trans., and Automation 111(3), 315-320 (Sep 01, 1989) (6 pages) doi:10.1115/1.3259001 History: Received February 01, 1988; Online November 19, 2009

Abstract

The positional errors due to clearances in journal bearings intended to approximate revolute joints are analyzed. Equations are presented which relate joint geometry, external loads, and errors. The paper treats the case common in serial chain manipulators where the revolute joint’s nominal rotational angle is controlled, and it is desired to determine the errors that result from the clearances.

Copyright © 1989 by ASME
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