Articles | Volume 10, issue 1
https://doi.org/10.5194/ms-10-287-2019
https://doi.org/10.5194/ms-10-287-2019
Research article
 | 
21 Jun 2019
Research article |  | 21 Jun 2019

Research on Influence of Joint Clearance on Precision of 3-TPT Parallel Robot

Chunxia Zhu and Zhiyu Zhao

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Cited articles

Akhadkar, N., Acary, V., and Brogliato, B.: 3D Revolute Joint with Clearance in Multibody Systems, in: Computational Kinematics, edited by: Zeghloul, S., Romdhane, L., and Laribi, M., Mechanisms and Machine Science, Vol 50. Springer, Cham, 2018a. 
Akhadkar, N., Acary, V., and Brogliato, B.: Multibody systems with 3D revolute joints with clearances: an industrial case study with an experimental validation, Multibody Syst. Dyn., 42, 249–282, https://doi.org/10.1007/s11044-017-9584-5, 2018b. 
Amir, R. and Alireza, A.: Study on Jacobian, singularity and kinematics sensitivity of the FUM 3-PSP parallel manipu-lator, Mech. Mach. Theory, 86, 211–234, https://doi.org/10.1016/j.mechmachtheory.2014.11.009, 2015. 
Cavalieri, F. J. and Cardona, A.: Non-smooth model of a frictionless and dry three-dimensional revolute joint with clearance for multibody system dynamics, Mech. Mach. Theory, 121, 335–354, https://doi.org/10.1016/j.mechmachtheory.2017.09.018, 2018. 
Dai, Y., Fu, Y., Li, B., and Wang, W.: Clearance effected accuracy and error sensitivity analysis: A new nonlinear equivalent method for spatial parallel robot, J. Mech. Sci. Technol., 31, 5493–5504, https://doi.org/10.1007/s12206-017-1044-x, 2017. 
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Short summary
the joint clearance error of the component is an important component for the structural parameter errors. In order to improve the accuracy of such mechanism, the possible errors were evaluated and on-line error compensation was carried out by control system for the purpose of accuracy machining. The error model of the working accuracy of the parallel mechanism was established in this paper.
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