A novel algorithm to generate backlash-free motions

Parallel mechanisms are commonly used in the industry for positioning and motion generation. They have the advantages of being rigid, responsive and accurate. However, during operation, direction reversals are frequently necessary in order to obtain a desired path. It has been established that friction and gear backlash effects significantly contribute to the error of the parallel mechanisms, especially when rapid direction change is required. To reduce or eliminate the effect of backlash on the accuracy of motion, this study aims at establishing a new algorithm for the generation of an arbitrary path using a novel mechanism developed in this work. The new algorithm is formulated based on a rotating coordinate. Case studies were conducted to illustrate the ability of the proposed algorithm in generating a backlash-free motion.