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Research Papers

Investigation of Positional Error in Two Degree of Freedom Mechanism With Joint Clearance

[+] Author and Article Information
H. P. Jawale1

Department of Mechanical Engineering,  Visvesvaraya National Institute of Technology, Nagpur 440010, Indiahemant_jawale@rediffmail.com

H. T. Thorat

Department of Mechanical Engineering,  Visvesvaraya National Institute of Technology, Nagpur 440010, Indiahtthorat@yahoo.com

1

Corresponding author.

J. Mechanisms Robotics 4(1), 011002 (Feb 03, 2012) (7 pages) doi:10.1115/1.4005523 History: Received February 03, 2010; Accepted November 14, 2011; Published February 03, 2012; Online February 03, 2012

Closed chain mechanisms are used as robotic manipulators with special features. A planar two-DOF closed loop mechanism provides desired position of an end effecter in a confined workspace with two input motions. Position of end effecter depends on various factors including joint clearance. Positional accuracy forms important parameter for kinematic analysis of mechanism. This paper presents simple approach for quantifying error due to joint clearance in a two-DOF mechanism. Generalized scheme for positional deviation with and without clearance at joint is presented. Orientation of clearance links for maximum positional error is identified. Error at various positions is quantified in relation with clearance link length. Computer programming is used as a tool to workout positional analysis of mechanism. Results show that error is independent of magnitude of clearance, however, a function of location of end effecter in workspace.

Copyright © 2012 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Five bar planar manipulator

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Figure 2

Radial clearance link at joint

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Figure 3

Five bar mechanism with joint clearance

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Figure 4

Clearance link orientation under forces

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Figure 5

Effect of clearance on positions of joints

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Figure 6

General scheme of mathematical formulation

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Figure 7

Clearance link motion about a joint

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Figure 8

Relative effect of single clearance links on error

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Figure 9

Effect of all clearance links on error

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Figure 10

Error mapping in planar workspace

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Figure 11

Error zones for mechanism operation

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Figure 12

Effect of variation of coupler position on error

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Figure 13

Effect of clearance link length on error

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Figure 14

Effect of gravity position on error

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Figure 15

Error zones for mechanism operation under gravity

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