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ORIGINAL PAPER
Determining the Errors in Output Kinematic Parameters of Planar Mechanisms with a Complex Structure
1
Cracow University of Technology Faculty of Mechanical Engineering Al. Jana Pawła II 37 31-864 Kraków, Poland
Online publication date: 2014-12-30
Publication date: 2014-11-01
International Journal of Applied Mechanics and Engineering 2014;19(4):783-793
KEYWORDS
ABSTRACT
The study is focused on determining the errors in output kinematic parameters (position, velocity, acceleration, jerk) of entire links or their selected points in complex planar mechanisms. The number of DOFs of the kinematic system is assumed to be equal to the number of drives and the rigid links are assumed to be connected by ideal, clearance-free geometric constraints. Input data include basic parameters of the mechanism with the involved errors as well as kinematic parameters of driving links and the involved errors. Output errors in kinematic parameters are determined basing on the linear theory of errors.
FUNDING
This research received no specific grant from any funding agency in the public, commercial, or not-for-profit sectors.
CONFLICT OF INTEREST
The authors declare that they have no conflict of interest.
DATA AVAILABILITY
All data generated or analysed during this study are included in this published article.
REFERENCES (5)
1.
Fenton R.G., Cleghorn W.L. and Jing-Fan Fu (1989): Allocation of Dimensional Tolerances for Multiple Loop Planar Mechanisms. - Journal of Mechanisms, Transmissions and Automation in Design, XII 1989, vol.111.
2.
Gronowicz A. (2003): Fundamentals of Analysis of Kinematic Systems. - Wroclaw Polytechnics Publishers, Wrocław (In Polish).
3.
Kotulski Z. and Szczepiński W. (2004): Calculus of Errors for Engineers. - WNT Publishers, Warsaw (In Polish).
4.
Mavroidis C., Flanz J., Dubowsky S., Drouet P. and Goiltein M. (1998): High Performance Medical Robot Requirements and Accuracy Analysis. - Robotics and Computer Integrated Manufacturing, vol.14, No.5-6, pp.329-338.
5.
Młynarski T. (1994): Generalised Analytical Method of Kinematic Analysis of Plane Mechanisms. - Cracow University of Technology, Monograph 165, Cracow (In Polish).
| eISSN: | 2353-9003 |
| ISSN: | 1734-4492 |
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