Prediction of the slop in general spatial linkages
- Univ. of Melbourne, Parkville, Victoria (Australia). Dept. of Mechanical and Manufacturing Engineering
This paper reviews techniques for assessing how joint clearances affect the precision of multiloop, multifreedom linkages. Slop, or backlash, arises from the small movements as joint clearances are taken up and, as these movements are generally uncontrolled, the precise location of bodies in the linkage becomes uncertain. This is particularly important when such linkages are used as robot manipulators, where the location of the end effector is of interest. A new analytic technique, which is more widely applicable than previous techniques, is presented and demonstrated by way of the Melbourne dexterous finger. The authors assume, that the joints in the linkage are frictionless, and they seek the maximum free movement, bounded by nominal joint clearance, of some body of interest. Theoretical results are compared with experimental measurements collected using a photogrammetric technique.
- OSTI ID:
- 678022
- Journal Information:
- International Journal of Robotics Research, Vol. 18, Issue 8; Other Information: PBD: Aug 1999
- Country of Publication:
- United States
- Language:
- English
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