Research Papers

Positional Error Estimation in Serial Link Manipulator Under Joint Clearances and Backlash

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

Assistant Professor
e-mail: hemant_jawale@rediffmail.com

H. T. Thorat

e-mail: htthorat@yahoo.com
Department of Mechanical Engineering,
Visvesvaraya National Institute of Technology,
Nagpur 440010, India

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF Mechanisms and Robotics. Manuscript received January 26, 2012; final manuscript received January 7, 2013; published online March 26, 2013. Assoc. Editor: Kazem Kazerounian.

J. Mechanisms Robotics 5(2), 021003 (Mar 26, 2013) (7 pages) Paper No: JMR-12-1008; doi: 10.1115/1.4023556 History: Received January 26, 2012; Revised January 07, 2013

The serial link manipulators are most commonly used for industrial applications. The positional accuracy is an important specification for performance evaluation of a serial chain manipulator. The factors influencing the positional accuracy of serial link robotic manipulator includes joint clearances, and drive backlash. This paper presents method for evaluating the effect of joint error on positional accuracy of the robotic manipulator. Serial chain Two Revolute Joint (2R) planar manipulator is modeled to position the end effector in workspace. The inverse kinematic analysis under ideal joint provides the link properties for respective end effector location. Formulation for manipulator link properties under influence of the joint clearance is presented. Effect of drive backlash on positional accuracy of end effector is analyzed. Positional deviations at end effector positions over workspace are estimated. Maximum error under influence of backlash and clearances is estimated at all possible end effector positions.

Copyright © 2013 by ASME
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Fig. 1

(a) Serial link planar manipulator without drive error and (b) shift in end effector position due to drive error

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Fig. 2

Workspace of 2R manipulator

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Fig. 3

Effect of drive clearance on positional error

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Fig. 4

Effect of clearance link rotation on error over workspace

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Fig. 5

Effect of individual drive backlash on positional error

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Fig. 6

Effect of all drive inaccuracies—backlash and clearances

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Fig. 7

Effect of variation of end effector position on floating link l3

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Fig. 8

Effect of clearance variation

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Fig. 9

Effect of derive backlash on maximum error

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Fig. 10

Effect of scaling maximum reach

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Fig. 11

Variation in contribution under backlash and clearances on scaling link lengths




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