Detachment avoidance of joint elements of a robotic manipulator with clearances based on trajectory planning

DOI10.1016/j.mechmachtheory.2010.01.006zbMath1359.70008MaRDI QIDQ994154

Shuming Gao, Jianrong Tan, Zhenyu Liu, Wanghui Bu

Publication date: 17 September 2010

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

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2010.01.006

zbMATH Keywords

robotic manipulator; trajectory planning; joint clearance; dynamic response spectrum

Mathematics Subject Classification ID

70B15: Kinematics of mechanisms and robots

Related Items

Modeling and control of crank-slider mechanism with multiple clearance joints, A new model for dry and lubricated cylindrical joints with clearance in spatial flexible multibody systems, Workspace analysis of positioning discontinuities due to clearances in parallel manipulators

Cites Work

• The FEM analysis and approximate model for cylindrical joints with clearances
• Accuracy analysis of a multi-loop linkage with joint clearances
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• Kinematic sensitivity analysis of linkage with joint clearance based on transmission quality
• Identification of clearances and stability analysis for a rotor-journal bearing system
• Nonlinear dynamic analysis of a parallel mechanism with consideration of joint effects
• A study on dynamics of mechanical systems including joints with clearance and lubrication
• Clearance influence analysis on mechanisms