Output position Uncertainty of Linkages with Prismatic Joints

10.6567/IFToMM.14TH.WC.PS12.005

Kwun-Lon Ting；Kuan-Lun Hsu；Zetao Yu；Jun Wang

Joint clearance ； Prismatic joint ； Position deviation ； Rotatability law ； Clearance link

Proceedings of the 14th IFToMM World Congress

14th-5（2015 / 11 / 06）

383 - 388

英文

The paper presents the first kinematic model to quantify the effects of the joint clearance stack up on the output link position of linkages containing prismatic joints. It demonstrates the modeling of each joint clearance, how the clearance leads to redundant freedom, and how the clearance stack up is formed. It shows how the position uncertainty is affected by each joint clearance. Ting's rotatability laws are used to address the extent of uncertainty at the nominal output position. The proposed kinematic model is showcased with a slider crank mechanism and an inverted slider crank mechanism.