ASIAN MMS 2016, CCMMS 2016: Mechanism and Machine Science pp 1225-1238 | Cite as
Chaos Suppression for Joint Clearances Based on Trajectory Planning of Robotic Mechanisms
Abstract
Robotic mechanisms have been widely used, and the clearances existing in mechanism joints decrease the positioning accuracy and bring about the impact between joint elements. In this paper, the chaos caused by joint clearances is investigated, and a novel approach to suppress the chaos based on the trajectory planning of the robotic mechanism is presented. The dynamics of the robotic mechanism with joint clearances is analyzed, and the model of the worn revolute joint is established. Furthermore, the allowable abrasion depth is derived to suppress chaos for the worn joints.
Keywords
Manipulator Clearance Chaos Trajectory planningNotes
Acknowledgments
This work was supported in part by the National Natural Science Foundation of China under Grants 51475331 and 51005199, and the Fundamental Research Funds for the Central Universities.
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