Title :
Assembly Problem of Overconstrained and Clearance-free Parallel Manipulators
Author :
Meng, Jian ; Zhang, Dongjun ; Li, Zexiang
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon
Abstract :
To avoid deteriorating the mechanism´s performance, joint clearance can be eliminated by preloading the pairing elements of the joint. However, this paper proves rigorously that in the real world, the unavoidable assembly and manufacturing errors will cause overconstrained parallel manipulators to lose degree of freedoms, or even unable to be assembled if they are composed of purely clearance-free pairs (e.g., preloaded pairs). Introducing joint clearance is an essential and efficient way for the correct functioning and easy assembly of overconstrained parallel manipulators.
Keywords :
assembling; differential geometry; manipulators; assembly errors; clearance-free parallel manipulators; joint clearance; manufacturing errors; overconstrained parallel manipulators; Chromium; Circuit topology; Costs; Manipulators; Pulp manufacturing; Robotic assembly; Robotics and automation; Shafts; Space technology;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363145