Paper title: Dynamics of manipulators with joint clearance

Authors: Vũ Đức Bình, Đỗ Đăng Khoa, Phan Đăng Phong, Đỗ Sanh

Published in: National Conference on Science and Technology in Mechanical and Power Engineering

Date: October 13, 2016, Hanoi University of Science and Technology 

Abstract: For manipulators with programmed motion, e.g., in industry (loading/unloading, painting, welding manipulators), medical manipulators (assisting surgery)… there are strict requirements on operational errors. This imposes high demands on joint clearances (which may occur due to manufacturing, wear, etc.).

In this report, based on the Principle of Compatibility and the transfer matrix method, the equations of motion are established for planar manipulators consisting of a series of links connected by revolute joints when clearances exist in the revolute joints. From this, the errors during manipulator operation can be determined.

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