Dynamic analysis of a parallel robot with spherical joints with consideration for joint clearance
This paper proposes a dynamic analysis method for evaluating the vibrational behavior of a parallel robot having spherical joints with clearance. By using variables that represent the relative displacement between the elements of clearance joints as generalized coordinates, it is enabled to implemen...
| Main Authors: | , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2022-01-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/88/906/88_21-00188/_pdf/-char/en |
| _version_ | 1798019083479810048 |
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| author | Masumi OHNO Yukio TAKEDA |
| author_facet | Masumi OHNO Yukio TAKEDA |
| author_sort | Masumi OHNO |
| collection | DOAJ |
| description | This paper proposes a dynamic analysis method for evaluating the vibrational behavior of a parallel robot having spherical joints with clearance. By using variables that represent the relative displacement between the elements of clearance joints as generalized coordinates, it is enabled to implement a general algorithm regardless of the combination of spherical joints with clearance. The constraint equations are eliminated from the set of differential algebraic equations to be solved, and therefore the method does not need to use Baumgarte constraint stabilization method. The method was applied to a DELTA robot and were examined by measurement with a real machine. The acceleration of output link when using the special trajectories, which are likely to cause the impact only at a single spherical joint at the beginning of motion, was investigated. From the results of simulation, several motion modes of joint elements due to the clearance are confirmed; free flight, impact, and continuous contact modes. The acceleration of the output link fluctuates significantly at the time when the joint elements are in the impact mode, which shows the fact that the impact of joint elements at the spherical joints with clearance causes vibrational behavior of the robot. The appearance of the acceleration fluctuations are coincided with that of experimental results, which shows the effectiveness of the proposed method as a method for analyzing the vibrational behavior of parallel robots caused by joint clearance. |
| first_indexed | 2024-04-11T16:34:47Z |
| format | Article |
| id | doaj.art-7acdd93a34bc4a87b31bf8fc4187638d |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-11T16:34:47Z |
| publishDate | 2022-01-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-7acdd93a34bc4a87b31bf8fc4187638d2022-12-22T04:13:52ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612022-01-018890621-0018821-0018810.1299/transjsme.21-00188transjsmeDynamic analysis of a parallel robot with spherical joints with consideration for joint clearanceMasumi OHNO0Yukio TAKEDA1Department of Mechanical Engineering, Tokyo Institute of TechnologyDepartment of Mechanical Engineering, Tokyo Institute of TechnologyThis paper proposes a dynamic analysis method for evaluating the vibrational behavior of a parallel robot having spherical joints with clearance. By using variables that represent the relative displacement between the elements of clearance joints as generalized coordinates, it is enabled to implement a general algorithm regardless of the combination of spherical joints with clearance. The constraint equations are eliminated from the set of differential algebraic equations to be solved, and therefore the method does not need to use Baumgarte constraint stabilization method. The method was applied to a DELTA robot and were examined by measurement with a real machine. The acceleration of output link when using the special trajectories, which are likely to cause the impact only at a single spherical joint at the beginning of motion, was investigated. From the results of simulation, several motion modes of joint elements due to the clearance are confirmed; free flight, impact, and continuous contact modes. The acceleration of the output link fluctuates significantly at the time when the joint elements are in the impact mode, which shows the fact that the impact of joint elements at the spherical joints with clearance causes vibrational behavior of the robot. The appearance of the acceleration fluctuations are coincided with that of experimental results, which shows the effectiveness of the proposed method as a method for analyzing the vibrational behavior of parallel robots caused by joint clearance.https://www.jstage.jst.go.jp/article/transjsme/88/906/88_21-00188/_pdf/-char/enparallel robotmulti-body dynamicsconstraint stabilizationjoint clearancecontact modelvibrational behavior |
| spellingShingle | Masumi OHNO Yukio TAKEDA Dynamic analysis of a parallel robot with spherical joints with consideration for joint clearance Nihon Kikai Gakkai ronbunshu parallel robot multi-body dynamics constraint stabilization joint clearance contact model vibrational behavior |
| title | Dynamic analysis of a parallel robot with spherical joints with consideration for joint clearance |
| title_full | Dynamic analysis of a parallel robot with spherical joints with consideration for joint clearance |
| title_fullStr | Dynamic analysis of a parallel robot with spherical joints with consideration for joint clearance |
| title_full_unstemmed | Dynamic analysis of a parallel robot with spherical joints with consideration for joint clearance |
| title_short | Dynamic analysis of a parallel robot with spherical joints with consideration for joint clearance |
| title_sort | dynamic analysis of a parallel robot with spherical joints with consideration for joint clearance |
| topic | parallel robot multi-body dynamics constraint stabilization joint clearance contact model vibrational behavior |
| url | https://www.jstage.jst.go.jp/article/transjsme/88/906/88_21-00188/_pdf/-char/en |
| work_keys_str_mv | AT masumiohno dynamicanalysisofaparallelrobotwithsphericaljointswithconsiderationforjointclearance AT yukiotakeda dynamicanalysisofaparallelrobotwithsphericaljointswithconsiderationforjointclearance |