Hostname: page-component-cd9895bd7-lnqnp Total loading time: 0 Render date: 2024-12-25T05:07:11.495Z Has data issue: false hasContentIssue false
  • English
  • Français

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: [email protected]
Get access Rights & Permissions [Opens in a new window]

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 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Bai, Z. F. and Zhao, Y., “Dynamic behaviour analysis of planar mechanical systems with clearance in revolute joints using a new hybrid contact force model,” Int. J. Mech. Sci. 54, 190–205 (2012).CrossRefGoogle Scholar
2. Olyaei, A. A. and Ghazavi, M. R., “Stabilizing slider-crank mechanism with clearance joints,” Mech. Mach. Theory 53, 17–29 (2012).CrossRefGoogle Scholar
3. Tian, Q., Xiao, Q., Sun, Y., Hu, H., Liu, H. and Flores, P., “Coupling dynamics of a geared multibody system supported by ElastoHydroDynamic lubricated cylindrical joints,” Multibody Syst. Dyn. 33 (3), 259–284 (2015).Google Scholar
4. Alves, J., Peixinho, N., Silva, M. T., Flores, P. and Lankarani, H. M., “A comparative study on the viscoelastic constitutive laws for frictionless contact interfaces in multibody dynamics,” Mech. Mach. Theory 85, 172–188 (2015).CrossRefGoogle Scholar
5. Li, X., Ding, X. and Chirikjian, G. S., “Analysis of angular-error uncertainty in planar multiple-loop structures with joint clearances,” Mech. Mach. Theory 91, 69–85 (2015).Google Scholar
6. Zhang, Z., Xu, L., Flores, P. and Lankarani, H. M., “A kriging model for the dynamics of mechanical systems with revolute joint clearances,” ASME J. Comput. Nonlinear Dyn. 9 (3), 031013–031013 (2014).Google Scholar
7. Sardashti, A., Daniali, H. M. and Varedi, S. M., “Optimal free-defect synthesis of four-bar mechanism with joint clearance using PSO algorithm,” Meccanica 48, 1681–1693 (2013).CrossRefGoogle Scholar
8. Sukhan, L. and Chunsik, Y., “Statistical representation and computation of tolerance and clearance for assemblability evaluation,” Robotica 16, 251–264 (1998).Google Scholar
9. Chouaibi, Y., Chebbi, A. H., Affi, Z. and Romdhane, L., “Analytical modeling and analysis of the clearance induced orientation error of the RAF translational parallel manipulator,” Robotica. Available on CJO. doi:10.1017/S0263574714002653 (2014).Google Scholar
10. Varedi, S. M., Daniali, H. M., Dardel, M. and Fathi, A., “Optimal dynamic design of a planar slider-crank mechanism with a joint clearance,” Mech. Mach. Theory 86, 191–200 (2015).CrossRefGoogle Scholar
11. Koshy, C. S., Flores, P. and Lankarani, H. M., “Study of the effect of contact force model on the dynamic response of mechanical systems with dry clearance joints: Computational and experimental approaches,” Nonlinear Dyn. 73 (1–2), 325–338 (2013).CrossRefGoogle Scholar
12. Machado, M., Costa, J., Seabra, E. and Flores, P., “The effect of the lubricated revolute joint parameters and hydrodynamic force models on the dynamic response of planar multibody systems,” Nonlinear Dyn. 69 (1–2), 635–654 (2012).Google Scholar
13. Machado, M., Moreira, P., Flores, P. and Lankarani, H. M., “Compliant contact force models in multibody dynamics: Evolution of the Hertz contact theory,” Mech. Mach. Theory 53, 99–121 (2012).CrossRefGoogle Scholar
14. Flores, P. and Lankarani, H. M., “Dynamic response of multibody systems with multiple clearance joints,” ASME J. Comput. Nonlinear Dyn. 7 (3), 031003–031013 (2012).CrossRefGoogle Scholar
15. Flores, P., Koshy, C. S., Lankarani, H. M., Ambrósio, J. and Claro, J. C. P., “Numerical and experimental investigation on multibody systems with revolute clearance joints,” Nonlinear Dyn. 65 (4), 383–398 (2011).CrossRefGoogle Scholar
16. Dubowsky, S. and Freudenstein, F., “Dynamic analysis of mechanical systems with clearances, part 1: Formulation of dynamic model,” J. Manuf. Sci. Eng. 93 (1), 305–309 (1971).Google Scholar
17. Dubowsky, S. and Freudenstein, F., “Dynamic analysis of mechanical systems with clearances, part 2: Dynamic response,” J. Manuf. Sci. Eng. 93 (1), 310–316 (1971).Google Scholar
18. Earles, S. W. E. and Wu, C. L. S., “Motion analysis of a rigid link mechanism with clearance at a bearing using Lagrangian mechanics and digital computation,” J. Mech. 83–89 (1973).Google Scholar
19. Lankarani, H. M. and Nikravesh, P. E., “A contact force model with hysteresis damping for impact analysis of multibody systems,” J. Mech. Des. 112, 369–376 (1990).CrossRefGoogle Scholar
20. Flores, P. and Ambrósio, J., “Revolute joints with clearance in multibody systems,” J. Comput. Struct. 82, 1359–1369 (2004).Google Scholar
21. Flores, P., Ambrósio, J., Claro, J. C. P., Lankarani, H. M. and Koshy, C. S., “A study on dynamics of mechanical systems including joints with clearance and lubrication,” Mech. Mach. Theory, 41, 247–261 (2006).CrossRefGoogle Scholar
22. Schwab, A. L., Meijaard, J. P. and Meijers, P., “A comparison of revolute joint clearance models in the dynamic analysis of rigid and elastic mechanical systems,” Mech. Mach. Theory 37, 895–913 (2002).Google Scholar
23. Varedi, S. M., Daniali, H. M. and Dardel, M., “Dynamic synthesis of a planar slider–crank mechanism with clearances,” Nonlinear Dyn. 79, 1587–1600 (2015).Google Scholar
24. Flores, P., Ambrósio, J., Claro, J. C. P. and Lankarani, H. M., “Spatial revolute joints with clearance for dynamic analysis of multibody systems,” Proc. Inst. Mech. Eng., Part-K: J. of Multi-body Dyn. 220 (4), 257–271 (2006).Google Scholar
25. Tian, Q., Sun, Y., Liu, C., Hu, H. and Flores, P., “Elastohydrodynamic lubricated cylindrical joints for rigid-flexible multibody dynamics,” Comput. Struct. 114–115, 106–120 (2013).Google Scholar
26. Jawale, H. P. and Thorat, H. T., “Investigation of positional error in two degree of freedom mechanism with joint clearance,” ASME J. Mech. Robot. 4 (1), 011002 (2012).CrossRefGoogle Scholar
27. Altuzarra, O., Aginaga, J., Hernández, A. and Zabalza, I., “Workspace analysis of positioning discontinuities due to clearances in parallel manipulators,” Mech. Mach. Theory 46 (5), 577–592 (2011).CrossRefGoogle Scholar
28. Li-Xin, X. and Yong-Gang, L., “Investigation of joint clearance effects on the dynamic performance of a planar 2-DOF pick-and-place parallel manipulator,” Robot. Comput.-Integr. Manuf. 30 (1), 62–73 (2014).Google Scholar
29. Farajtabar, M., Daniali, H. M. and Varedi, S. M., “Pick and place trajectory planning of planar 3-RRR parallel manipulator in the presence of joint clearance,” Robotica. Available on CJO doi:10.1017/S0263574714002768 (2015).Google Scholar
30. Ambrósio, J., “Impact of rigid and flexible multibody systems: Deformation description and contact models,” In Virtual Nonlinear Multibody Syst. 103, 57–81 (2003).Google Scholar
31. Mohammadi Daniali, H. R., Zsombor-Murray, P. J. and Angeles, J., “Singularity analysis of planar parallel manipulators,” Mech. Mach. Theory 30 (5), 665–678 (1995).Google Scholar
32. Gosselin, C. M., Kinematic Analysis, Optimisation and Programming of Parallel robotic Manipulators PhD Thesis, McGill University, Montreal, Canada (1988).Google Scholar
33. Chablat, D., Domaines d'unicité et Parcourabilité Pour Les Manipulateurs Pleinement Parallèles. PhD Thesis, (France: Université de Nantes, 1998).Google Scholar
34. Lopes, D. S., Silva, M. T., Ambrósio, J. and Flores, P., “A mathematical framework for contact detection between quadric and superquadric surfaces,” Multibody Syst. Dyn. 24 (3), 255–280 (2010).Google Scholar
35. Flores, P. and Ambrósio, J., “On the contact detection for contact-impact analysis in multibody systems,” Multibody Syst. Dyn. 24 (1), 103–122 (2010).CrossRefGoogle Scholar