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

DOI10.1016/J.MECHMACHTHEORY.2010.01.006MaRDI QIDQ994154zbMATHOpenAlexFDO

Authors Wanghui Bu, Zhenyu Liu, Jianrong Tan, Shuming Gao

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 manipulatortrajectory planningjoint clearancedynamic response spectrum

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Recommendations

• The effects of joint clearance on position and orientation deviation of linkages and manipulators
• Workspace analysis of positioning discontinuities due to clearances in parallel manipulators
• On redundancy resolution in minimum-time trajectory planning of robotic manipulators along predefined end-effector paths
• Position and force control of flexible joint robots during constrained motion tasks
• Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories

Cites work

• A study on dynamics of mechanical systems including joints with clearance and lubrication
• Accuracy analysis of a multi-loop linkage with joint clearances
• Clearance influence analysis on mechanisms
• Identification of clearances and stability analysis for a rotor-journal bearing system
• Kinematic sensitivity analysis of linkage with joint clearance based on transmission quality
• Kinematic sensitivity analysis of the 3-UPU parallel mechanism
• Nonlinear dynamic analysis of a parallel mechanism with consideration of joint effects
• The FEM analysis and approximate model for cylindrical joints with clearances
• The effects of joint clearance on position and orientation deviation of linkages and manipulators

Cited in

(3)

• 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
• Modeling and control of crank-slider mechanism with multiple clearance joints

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