Workspace analysis of positioning discontinuities due to clearances in parallel manipulators

DOI10.1016/J.MECHMACHTHEORY.2011.01.005MaRDI QIDQ548812zbMATH OpenOpenAlexFDO

Authors Oscar Altuzarra, Jokin Aginaga, A. Hernández, Isidro Zabalza

Publication date 30 June 2011

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2011.01.005

zbMATH Keywords

dynamicsclearanceworkspacekinetostaticspositioning discontinuities

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Statics (70C99)

Recommendations

• Prediction of the pose errors produced by joints clearance for a 3-UPU parallel robot
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• scientific article; zbMATH DE number 1304562

Cites work

• A continuous analysis method for planar multibody systems with joint clearance
• A study on dynamics of mechanical systems including joints with clearance and lubrication
• Accuracy analysis of a multi-loop linkage with joint clearances
• Chaotic And Periodic Dynamics Of A Slider-Crank Mechanism With Slider Clearance
• Clearance influence analysis on mechanisms
• Detachment avoidance of joint elements of a robotic manipulator with clearances based on trajectory planning
• Dynamic analysis of a flexible slider-crank mechanism with clearance
• Kinematic sensitivity analysis of linkage with joint clearance based on transmission quality
• Parallel robots.
• Prediction of the pose errors produced by joints clearance for a 3-UPU parallel robot
• Robust synthesis of path generating linkages
• The effects of joint clearance on position and orientation deviation of linkages and manipulators

Cited in

(6)

• Prediction of the pose errors produced by joints clearance for a 3-UPU parallel robot
• Force-closure workspace analysis of cable-driven parallel mechanisms
• Detachment avoidance of joint elements of a robotic manipulator with clearances based on trajectory planning
• Kinematics of micro planar parallel robot comprising large joint clearances
• Kinetostatic modeling of the clearance-affected prismatic pair
• The effects of joint clearance on position and orientation deviation of linkages and manipulators

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