Accuracy Analysis of a 3-DOF Mechanism with Joint Clearances Under Different Working Modes
This paper presents an analytical investigation on the positioning accuracy of a planar 3DOF 3-RRR parallel mechanism with multiply joint clearances,in which eight working modes of the mechanism are included.The joint clearance is treated as a mass-less virtual link in the analysis.Assuming that the clearance size is much smaller than the geometric size of the mechanism,a simplified expression of the output errors is obtained by the kinematic analysis of the planar 3-RRR parallel mechanism.The error boundary for a given position of the mechanism and the maximum error distribution in the whole workspace is plotted out.The results show that the proposed method is an efficient way to predicate the positioning error of the 3-RRR mechanism with joint clearances under different working modes.
3-RRR mechanism Joint clearance Accuracy analysis Working modes
Xuchong Zhang Xianmin Zhang
School of Design, South China University of Technology, Guangzhou 510006, China Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China
国际会议
广州
英文
1199-1209
2016-12-15（万方平台首次上网日期，不代表论文的发表时间）