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Analysis of Gravitational Effects on the Dynamic Behavior of Open Loop Mechanisms with Multiple Clearance Joints

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13013))

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Abstract

Joint clearance and gravitational effects are considered and their coupling effects on the dynamic performance of open loop mechanisms are modeled. A continuous dissipative Hertz contact model is applied to describe the contact phenomenon in the joint and the friction force is calculated using the modified Coulomb’s friction law. The dynamic behaviors of open loop mechanisms under different combinations of clearance joints location and body masses are numerically modeled. The results show that the location of the clearance joints and the body gravity are important factors to dynamic behavior of the open loop mechanisms. The closer to the end-effector, the stronger influence on the system. The errors induced by multiple joints with clearance can be transmitted and accumulated. The component of gravity varies unevenly has an extremely strong effect the on dynamics of the open-loop topology, the farer body owns heavier weight to the end-effector, the stronger influence on the system. The results may provide a theoretical basis and technical support for the design the open loop mechanisms.

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Acknowledgments

This work was supported by the special funds for scientific and technological innovation and development of Guangzhou Municipal Science and Technology Bureau(202102020644), the Young Innovative Talents Program in Universities and Colleges of Guangdong Province(2020KQNCX003), the Fundamental Research Funds for the Central Universities(No.2019MS068) , the State Key Laboratory of Mechanical System and Vibration (Grant no. MSV202118) , the Foundation of Guangzhou (2019KC221) and the Dongguan Postgraduate Joint Training (Practice) Workstation Project (2019707122025).

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Authors and Affiliations

  1. Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou, 510640, China

    Lixin Yang, Xianmin Zhang, Zhenhui Zhan & Weijian Zhong

Authors
  1. Lixin Yang
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  2. Xianmin Zhang
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  3. Zhenhui Zhan
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  4. Weijian Zhong
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Corresponding author

Correspondence to Xianmin Zhang .

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Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Yang, L., Zhang, X., Zhan, Z., Zhong, W. (2021). Analysis of Gravitational Effects on the Dynamic Behavior of Open Loop Mechanisms with Multiple Clearance Joints. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_38

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  • DOI: https://doi.org/10.1007/978-3-030-89095-7_38

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89094-0

  • Online ISBN: 978-3-030-89095-7

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