Investigation on Dynamic Responses of Manipulator with Multiple Clearance Joints

Zheng Feng Bai; Xing Gui Wang; Yang Zhao

doi:10.4028/www.scientific.net/AMM.251.152

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 251Investigation on Dynamic Responses of Manipulator...

Investigation on Dynamic Responses of Manipulator with Multiple Clearance Joints

Abstract:

The existence of clearance in joints of manipulator system is inevitable and the movements of the real manipulator are deflection from the ideal manipulator for the clearances. In this study, the effects of clearance on dynamic responses of real manipulator system with multiple clearance joints are investigated using a computational methodology. By applying the nonlinear continuous contact force model, the contact dynamics model in joint clearance is established and the friction effect is considered with the help of Coulomb friction model. Then the dynamics simulation is carried out and the dynamic characteristics of manipulator system with multiple clearance joints are investigated. The results show that the clearance leads to degradation of dynamic performance of the real manipulator system.

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Periodical:

Applied Mechanics and Materials (Volume 251)

Pages:

152-157

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.251.152

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Online since:

December 2012

Authors:

Zheng Feng Bai, Xing Gui Wang, Yang Zhao

Keywords:

Clearance Joint, Contact Force, Dynamic Response, Manipulator

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