Title :
A modular modeling approach for planar linkage mechanisms considering clearance effects
Author :
Zhendong Song ; Xiaojun Yang ; Bing Li ; Hong Hu
Author_Institution :
Shenzhen Grad. Sch., Harbin Inst. of Technol., Shenzhen, China
Abstract :
Aiming at planar linkage mechanisms considering joint clearance effects, a modular approach based on the link group theory and the graph theory is proposed to improve modeling efficiency. The massless link model to simulate joint clearances provides possibility for using modular approach to analyze the clearance effects. Meanwhile, this approach highlights the hierarchy and reusability of a defined mechanism when solving similar cases. A revolute four-bar mechanism with joint clearances is studied as a case to demonstrate the effectiveness of the proposed approach. This approach is an efficient mechanism analysis method on account of clearance effects and can improve the modeling efficiency significantly.
Keywords :
bars; couplings; graph theory; group theory; graph theory; joint clearance effects; link group theory; massless link model; modeling efficiency; modular modeling approach; planar linkage mechanisms; revolute four-bar mechanism; Acceleration; Computational modeling; Equations; Joints; Kinematics; Mathematical model; Topology;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
DOI :
10.1109/ROBIO.2013.6739842