Abstract
This paper develops a model for studying the effect of joint clearances on the end-effector’s loci for planar parallel manipulators with 2 degree-of-freedom (DOF). The condition for developing end-effector loci equations with respect to the joint clearance relies on the fact that at least one point of contact is always presented in each joints. The motivation of this work lies in the fact that the proposed procedure allows the study of parallel manipulators that can be considered as design concepts for developing an x-y cutting table for a textile industry. Numerical simulations enable to compare three 2-DOF planar parallel manipulators architectures: i) 2-RRR, ii) 2-RPR, and iii) 2-RPR. A Monte Carlo simulation allows us to find the area of possible end-effector locations for a specific value of clearance. Also, the equations allow us to find the largest distance from the desired location to the one obtained considering clearance. Findings shed some lights on establishing which parallel manipulator is less affected to joint clearance.
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Acknowledgments
This work was supported by the Vicerrectoría de Investigaciones y Extensión de la Universidad Tecnológica de Pereira, project 8-16-3 “Desarrollo de manipulador paralelo de tipo planar y espaciales con visión artificial para alternativa de automatización y actualización para la industria”.
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Héctor F. Quintero received his B.S. in mechanical engineering from Universidad Tecnológica de Pereira (UTP), Colombia in 1995; M.Sc. in mechanical engineering from Universidad de los Andes in 2000 and Doctoral degree in mechanical engineering from Cataluña Polytechnic University, Barcelona, Spain, in 2006. Now he works at Pereira Technological University. His current research interests include analysis and synthesis of mechanisms, mechanical vibrations and fault diagnosis.
Luz A. Mejia received her B.S. in mechanical engineering and M.Sc. in automatic systems of production from Universidad Tecnológica de Pereira, Colombia in 1999 and 2005; M.Sc. in mechanical engineering and Doctoral degree in engineering from Universitat Politècnica de València, Spain, 2009 and 2016. Today she is a Professor at Universidad Tecnológica de Pereira. Her research interests include mechanisms and machine theory, multibody system dynamics and robotics.
Miguel Diaz-Rodriguez Rodriguez is a Full Professor in the School of Mechanical Engineering at the Universidad de los Andes, Venezuela. He received his Ph.D. in mechanical engineering from Universitat Politècnica de València in 2009. His research interests include parallel manipulator, parameter identification and developing mechatronics systems.
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Quintero, H.F., Mejia, L.A. & Diaz-Rodriguez, M. End-effector positioning due to joint clearances: A comparison among three planar 2-DOF parallel manipulators. J Mech Sci Technol 33, 3497–3507 (2019). https://doi.org/10.1007/s12206-019-0644-z
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DOI: https://doi.org/10.1007/s12206-019-0644-z