Output Error Analysis of Planar 2-DOF Five-bar Mechanism

2017 5th International Conference on Mechanical Engineering, Materials Science and Civil Engineering

机械制造;材料科学;土木建筑工程

Niu, Kejia^1 ; Wang, Jun^1 ; Ting, Kwun-Lon^2 ; Tao, Fen^1 ; Cheng, Qunchao^1 ; Wang, Quan^1 ; Zhang, Kaiyang^1

Center for Robotics Research, School of Mechanical Engineering, Hubei University of Technology, Wuhan, Hubei

430068, China^1

Center for Manufacturing Research, Tennessee Technological University Cookeville, Tennessee

38501, United States^2

关键词: Five-bar mechanism;    Joint clearance;    Joint rotations;    Kinematic pairs;    Maximum error;    Planar parallel mechanisms;    Revolute joints;    Structural errors;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/324/1/012013/pdf
DOI  :  10.1088/1757-899X/324/1/012013

来源: IOP

【 摘 要 】

Aiming at the mechanism error caused by clearance of planar 2-DOF Five-bar motion pair, the method of equivalent joint clearance of kinematic pair to virtual link is applied. The structural error model of revolute joint clearance is established based on the N-bar rotation laws and the concept of joint rotation space, The influence of the clearance of the moving pair is studied on the output error of the mechanis. and the calculation method and basis of the maximum error are given. The error rotation space of the mechanism under the influence of joint clearance is obtained. The results show that this method can accurately calculate the joint space error rotation space, which provides a new way to analyze the planar parallel mechanism error caused by joint space.