Abstract
Joint clearance is inevitable due to manufacturing tolerances and assembly requirements, which introduces extra degrees of freedom to the links connected by the joint and causes position uncertainty of the manipulator. This study focuses on the theoretical estimation of position uncertainty induced by the joint clearance of a 3-RRR planar parallel manipulator. Moreover, a crucial aspect of this research is the experimental validation of the estimated uncertainties. First, a position uncertainty estimation model of the 3-RRR planar parallel manipulator with joint clearances is established. The estimated uncertainty at the nominal position of the manipulator is presented as an interval variable obtained by solving an optimization problem. Experiments are then conducted to obtain repeated position errors of the manipulator. To isolate the position errors induced by joint clearances, other kinematic parameters are calibrated through the least squares method. Finally, the established position uncertainty estimation model is verified by the multidirectional position repeatability experiment of the 3-RRR planar parallel manipulator.
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Acknowledgment
We would like to thank the financial supports from the National Natural Science Foundation of China (Grant no. 52130508).
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Zhan, Z., Zhang, X., Zhao, B., Wu, Q. (2023). Clearance-Induced Position Uncertainty Estimation and Experimental Verification of a Planar Parallel Manipulator. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 147. Springer, Cham. https://doi.org/10.1007/978-3-031-45705-0_67
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DOI: https://doi.org/10.1007/978-3-031-45705-0_67
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