The precision of parallel robots is limited by backlash in their joints. This paper investigates algorithms for designing inexpensive planar parallel robots with prescribed backlash-free workspace. The method of closing the backlash of the actuators uses preloaded flexible joints to replace the passive joints. These flexible joints may be made using standard joints with preloaded springs or by using preloaded flexure joints. Given a norm-bounded wrench acting on the robot, an algorithm is presented for determining the required preload for the flexible joints in order to guarantee backlash-free operation along a path or within a prescribed workspace. An investigation of the effects of the preloaded flexible joints on the stiffness is carried out using performance measures comparing the same robot with or without preloaded joints. These performance measures use an extended stiffness definition based on three noncollinear vertices on the moving platform. This paper presents simulations of the statics, stiffness, and backlash prevention algorithm, followed by experimental validations.
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e-mail: ww2161@columbia.edu
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February 2010
Research Papers
Design of Planar Parallel Robots With Preloaded Flexures for Guaranteed Backlash Prevention
Wei Wei,
Wei Wei
Department of Mechanical Engineering, Advanced Robotics and Mechanisms Applications Laboratory (ARMA Lab),
e-mail: ww2161@columbia.edu
Columbia University
, New York, NY 10027
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Nabil Simaan
Nabil Simaan
Department of Mechanical Engineering, Advanced Robotics and Mechanisms Applications Laboratory (ARMA Lab),
e-mail: ns2236@columbia.edu
Columbia University
, New York, NY 10027
Search for other works by this author on:
Wei Wei
Department of Mechanical Engineering, Advanced Robotics and Mechanisms Applications Laboratory (ARMA Lab),
Columbia University
, New York, NY 10027e-mail: ww2161@columbia.edu
Nabil Simaan
Department of Mechanical Engineering, Advanced Robotics and Mechanisms Applications Laboratory (ARMA Lab),
Columbia University
, New York, NY 10027e-mail: ns2236@columbia.edu
J. Mechanisms Robotics. Feb 2010, 2(1): 011012 (10 pages)
Published Online: January 11, 2010
Article history
Received:
December 16, 2008
Revised:
July 23, 2009
Published:
January 11, 2010
Citation
Wei, W., and Simaan, N. (January 11, 2010). "Design of Planar Parallel Robots With Preloaded Flexures for Guaranteed Backlash Prevention." ASME. J. Mechanisms Robotics. February 2010; 2(1): 011012. https://doi.org/10.1115/1.4000522
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