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首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >Analysis of angular-error uncertainty in planar multiple-loop structures with joint clearances
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Analysis of angular-error uncertainty in planar multiple-loop structures with joint clearances

机译：具有关节间隙的平面多环结构的角误差不确定性分析

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摘要

A model for angular errors in multi-loop structures with joint clearances is established. A closed-form solution of the model is obtained. By using optimization methods and geometric methods, the boundaries of the studied angular errors are determined with reduced computation complexity. In a single loop, the same size joint clearances have identical contributions to the angular error; while in the proposed multi-loop design, the position of the multiple-joint also affects the angular error greatly. The probability density functions (pdfs) of the stated closed-loop errors are also analyzed based on the open loop manipulator. The functions approach being Gaussian distributions if there are many joint clearances. A simple method is presented to evaluate the average and the variance of the pdfs. The method is verified by Monte Carlo simulations. (C) 2015 Elsevier Ltd. All rights reserved.
机译：建立了具有缝隙的多环结构角度误差模型。获得模型的封闭形式的解决方案。通过使用优化方法和几何方法，可以降低计算复杂度来确定所研究角度误差的边界。在单个回路中，相同尺寸的接缝间隙对角误差的贡献相同。而在提出的多环设计中，多关节的位置也极大地影响了角度误差。还基于开环操纵器分析了所述闭环误差的概率密度函数（pdfs）。如果存在许多关节间隙，则函数采用高斯分布。提出了一种简单的方法来评估pdf的平均值和方差。该方法通过蒙特卡洛仿真验证。 （C）2015 Elsevier Ltd.保留所有权利。

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