TAILIEUCHUNG - Advances in Robot Kinematics - Jadran Lenarcic and Bernard Roth (Eds) Part 4

Tham khảo tài liệu 'advances in robot kinematics - jadran lenarcic and bernard roth (eds) part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 84 H. Bamberger M. Shoham and A. Wolf 5. Conclusions The kinematic effects of large joint clearances in parallel robots was discussed. It was shown that the direct kinematics solutions expand due to the clearances and the clearance-space was defined as the set of possible platform poses resulting from given clearances. Instability of direct kinematics solutions may occur as the clearances get bigger when two distinct clearance-space boxes might merge. An analytical approach for finding the minimal clearance that causes this unwanted behavior was suggested along with a numerical example showing that for a 3 DOF planar parallel robot clearance of about 10 of the typical robot link length may be problematic. Future work will investigate the effects of clearances on the static and the dynamic behaviors of micro-robots. References Behi F. Mehregany M. and Gabriel . 1990 A Microfabricated Three-Degree-of-Freedom Parallel Mechanism Proceedings of IEEE Micro Electro Mechanical Systems - An Investigation of Micro Structures Sensors Actuators and Machines pp. 159-165. DeVoe D. et al. 3 DOF Planar Micromechanism 2000 http ISR accomplishments 032_ParallelFabrication The Institute for Systems Research University of Maryland MD USA. Dubowsky S. and Freudenstein F. 1971 Dynamic Analysis of Mechanical Systems with Clearances Part 1 Formation of Dynamical Model Part 2 Dynamic Response Journal of Engineering for Industry Transactions of the ASME Series B. Vol. 93 No. 1 pp. 305-316. Gosselin . and Merlet . 1994 The Direct Kinematics of Planar Parallel Manipulators Special Architectures and Number of Solutions Mechanism and Machine Theory Vol. 29 No. 8 pp. 1083-1097. Kosuge K. Fukuda T. and Mehregany M. 1991 Kinematic Analysis of Precision Planar Manipulator on Silicon International Conference on SolidState Sensors and Actuators Transducers 91 San Francisco CA USA pp. 618-621. Par enti-Castelli V. and Venanzi S. 2002 On the Joint Clearance Effects in Serial .

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