The Dynamics Modeling of Serial Robot with Joint Clearance Based on the Massless Link Method

摘要：

　　A general and comprehensive dynamics modeling of serial robot with clearance in joint is presented throughout this work.The key point in this paper is to treat the joint clearance as a massless link,which directly relate to the dynamics modeling of the mechanism.Using the massless link method,combined with the Lagrange method and the D’Alembert’s principle,a computational methodology for purpose of solving the clearance angle,is presented.With the clearance size calculated,the terminal position of robot manipulator can be derived,which provides a reference for subsequent robot control.

关键词： Massless link method Dynamics modeling Clearance angle

作者: Chanyuan Chen Lixin Yang Yanjiang Huang Haopeng Zhou Jinying Zhang Xianmin Zhang

作者单位: Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 1249-1260

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）