The Effects of Revolute Joint Clearance on the Kinematic Behavior of the 3RPR Planar Parallel Manipulator

علوم کاربردی و محاسباتی در مکانیک

Article 5, Volume 31, Issue 1 - Serial Number 21, February 2020, Pages 53-68   

Document Type: Original Article

DOI: 10.22067/fum-mech.v31i1.85234

Authors

S.M. Varedi-Koulaei; mahdi bamdad^* ; Borzoo Fathi

Shahrood university of technologyS

Abstract

To create a relative movement between connected members in a mechanism, the presence of clearance in the joints is inevitable. In addition to raise errors in positioning accuracy, the presence of clearance is one of the most important factors in causing impact, shock, and thus the production of vibrations and sound during the operation of the mechanism. Tolerances and errors due to the process of design and construction, wear and corrosion of joints after a certain period of work and thermal effects are known as the most important sources in creating and increasing clearance. Obviously, if there is a clearance in the revolute joints, one or two degrees of uncontrollable freedom are added to the mechanism, which can be the source of the error. In this paper, the clearance effects of revolute joints on the kinematic behavior of a 3RPR parallel robot are examined. Parallel robots are modeled in the Adams Dynamic Analysis Software, and the simulation results are compared for two ideal (without clearance) and real mode (with clearance). The effects of joint clearance size and its effect on robot behavior are also evaluated. Numerical results show that by growing the size of the clearance, the values of velocity and acceleration increase dramatically.

Keywords

Joint clearance; Kinematics; dynamic analysis; ADAMS Software; 3RPR Planar Parallel Manipulator

Supplementary Files

EA5-bamdad-Nahayi.pdf

References

1. Kolhatkar, S.A. and Yajnik, K.S., "The effects of play in the joints of a function-generating mechanism", Journal of Mechanisms, Vol. 5, pp. 521-632, (1970).

2. Dubowsky, S. and Freudenstein, F., "Dynamic analysis of mechanical systems with clearances, part 1: formulation of dynamic model", Journal of Engineering for Industry, 93(1), pp. 305–309, (1971).

3. Dubowsky, S. and Freudenstein, F., "Dynamic analysis of mechanical systems with clearances, part 2: dynamic response", Journal of Engineering for Industry, 93(1), pp. 310–316, (1971).

4. 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", Mechanisms, pp. 83–89, (1973).

5. Lankarani, H.M. and Nikravesh, P.E., "A contact force model with hysteresis damping for impact analysis of multibody systems", Journal of Mechanical Design, Vol. 112, pp. 369–376, (1990).

6. Hertz H., "On the contact of solids, 1881, On the contact of rigid elastic solids and on hardness, 1882", Translated by D.E. Jones, G.A. Schott, Miscellaneous Papers, MacMillan and Co. Ltd., London, pp. 146–183, (1896).

7. Flores, P. and Ambrosio J., "Revolute Joints with Clearance in Multibody Systems", Journal of Computers & Structures, Vol. 82, pp. 1359–1369, (2004).

8. Flores, P., Ambrosio, J. and Claro, J.P., "Dynamic Analysis for Planar Multibody Mechanical Systems with Lubricated Joints", Multibody System Dynamics, Vol. 12, pp. 47–74, (2004).

9. Flores, P., Ambrosio, 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", Mechanism and Machine Theory, Vol. 41, pp. 247–261, (2006).

10. 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", Mechanism and Machine Theory, Vol. 37, pp. 895–913, (2002).

11. Tian, Q., Zhang, Y., Chen, L. and Flores, P., "Dynamics of Spatial Flexible Multibody Systems with Clearance and Lubricated Spherical Joints", Journal of Composite Structures, Vol. 87, pp. 913–929, (2009).

12. Olyaei A.A. and Ghazavi M.R., "Stabilizing slider-crank mechanism with clearance joints", Mechanism and Machine Theory, Vol. 53, pp. 17–29, (2012).

13. Erkaya S. and Uzmay İ., "Experimental investigation of joint clearance effects on the dynamics of a slider-crank mechanism", Multibody System Dynamics, Vol. 24, pp. 81–102, (2010).

14. Erkaya S., "Prediction of vibration characteristics of a planar mechanism having imperfect joints using neural network", Journal of Mechanical Science and Technology, Vol. 26 (5), pp. 1419-1430, (2012).

15. Varedi, S.M., Daniali, H.M., Dardel, M. and Fathi, A., "Optimal dynamic design of a planar slider-crank mechanism with a joint clearance", Mechanism and Machine Theory, Vol. 86, pp. 191–200, (2015).

16. Varedi, S.M., Daniali, H.M. and Dardel, M., "Dynamic synthesis of a planar slider–crank mechanism with clearances", Nonlinear Dynamics, Vol. 79, pp. 1587–1600, (2015).

17. Flores, P., Ambrosio 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: Journal of Multi-body Dynamics, 220(4), 257–271, (2006).

18. Tian, Q., Sun, Y., Liu, C., Hu, H. and Flores, P., "Elasto-hydrodynamic lubricated cylindrical joints for rigidflexible multibody dynamics", Computers & Structures, 114–115, 106–120, (2013).

19. 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, (2015).

20. Varedi S. M., Daniali H.M. and Farajtabar M., "The effects of joint clearance on the dynamics of the 3RRR planar parallel manipulator", Robotica, (2016).

21. Bamdad, M. and Faroghi, S., "Stability measure for a parallel cable driven robot", Modares Mechanical Engineering, (2013).

22. Caro, S, Binaud, N. and Wenger, P, "Sensitivity analysis of 3-RPR planar parallel manipulators", Journal of Mechanical Design, American Society of Mechanical Engineers, Vol. 131, pp. 121005-1–121005-13, (2009).

23. Varedi, S.M., Daniali, H. and Ganji, D., "Kinematics of an offset 3-UPU translational parallel manipulator by the homotopy continuation method", Nonlinear Analysis: Real World Applications, 10)3(, pp. 1767–1774, (2009).

24. Merlet, J.P., "Algebraic-Geometry Tools for the Study of Kinematics of Parallel Manipulators", Computational Kinematics, pp. 183-194, (1993).

25. Sadjadian, H. and Taghirad, H.D.," Comparison of Different Methods for Computing the Forward Kinematics of a Redundant Parallel Manipulator", Journal of Intelligent and Robotic Systems, 44(3), pp. 225-246, (2005).

26. Korayem, M.H., Najafi, K. and Bamdad, M., "Synthesis of Cable Driven Robots Dynamic Motion with Maximum Load Carrying Capacities: Iterative Linear Programming Approach", Scientia Iranica, 17 (3B), pp. 29-239, (2010).

27. Korayem, M.H., Bamdad, M. and Akbareh, A., "Trajectory optimization of cable parallel manipulators in point-to-point motion", Journal of Industrial Engineering, Vol. 5, pp. 29-34, (2010).

28. Zhao, Y, Bai, Z.F., "Dynamics analysis of space robot manipulator with joint clearance", Acta Astronautica, 68(7), pp. 1147-55, (2011).

29. Tian, Q, Zhang, Y, Chen, L. and Flores, P., "Dynamics of spatial flexible multibody systems with clearance and lubricated spherical joints", Computers & Structures, 87(13), pp. 913-29, (2009).

30. Khemili, I. and Romdhane, L., "Dynamic analysis of a flexible slider–crank mechanism with clearance", European Journal of Mechanics A/Solids, Vol. 27, pp. 882–898, (2008).

31. Farokhzad, S., "Vibration Based Fault Detection of Centrifugal Pump by Fast Fourier Transform and Adaptive Neuro-Fuzzy Inference System", Journal of Mechanical Engineering and Technology, Vol. 1 (3), pp. 82-87, (2013).

32. Lin, H.C., Ye, Y.C., Huang, B.J. and Su, J.L., "Bearing vibration detection and analysis using enhanced fast Fourier transform algorithm", Advances in Mechanical Engineering, Vol. 8(10), pp. 1–14, (2016).