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The effects of joint clearance on the dynamics of the 3RRR planar parallel manipulator

Published online by Cambridge University Press:  12 January 2016

S. M. Varedi-Koulaei ,
H. M. Daniali  and
M. Farajtabar
S. M. Varedi-Koulaei*
Affiliation:
Department of Mechanical Engineering, University of Shahrood, P.O.Box 36199-95161, Shahrood, Iran
H. M. Daniali
Affiliation:
Department of Mechanical Engineering, Babol University of Technology, P.O.Box 47148-71167, Babol, Iran
M. Farajtabar
Affiliation:
Department of Mechanical Engineering, Babol University of Technology, P.O.Box 47148-71167, Babol, Iran
*
*Corresponding author. E-mail: varedi@shahroodut.ac.ir
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Summary

In reality, clearances in the joints are inevitable due to tolerances, and defects arising from design and manufacturing. Therefore, poor dynamic performance, reduction in components component lifetimes and generation of undesirable vibrations result in impacts of mating parts in the clearance joint. In this study, the dynamic behavior of a planar mechanism with revolute joints, in the presence of clearances is investigated. A continuous contact force model, based on elastic Hertz theory together with a dissipative term, is used to evaluate the contact forces here. Moreover, using a contact model, the effects of working speed and clearance size on the dynamic characteristics of a planar mechanical system are analyzed and compared. Furthermore, numerical results for a 3RRR planar parallel manipulator with six revolute clearance joints are presented.

Keywords

Joint clearanceDynamic effectContact force3RRR planar parallel manipulator
Type
Articles
Information
Robotica , Volume 35 , Issue 6 , June 2017 , pp. 1223 - 1242
Copyright
Copyright © Cambridge University Press 2016 

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