Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Web of Science (2)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Tischler, C. R.
Right arrow Articles by Samuel, A. E.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Prediction of the Slop in General Spatial Linkages

Craig R. Tischler

Andrew E. Samuel

Department of Mechanical and Manufacturing Engineering University of Melbourne Parkville, Victoria 3052, Australia

This paper reviews techniques for assessing how joint clearances affect the precision of multiloop, multifreedom linkages. Slop, or backlash, arises from the small movements as joint clearances are taken up and, as these movements are generally uncontrolled, the precise location of bodies in the linkage becomes uncertain. This is particularly important when such linkages are used as robot manipulators, where the location of the end effector is of interest. A new analytic technique, which is more widely applicable than previous techniques, is presented and demonstrated by way of the Melbourne dextrous finger. We assume that the joints in the linkage are frictionless, and we seek the maximum free movement, bounded by nominal joint clearances, of some body of interest. Theoretical results are compared with experimental measurements collected using a photogrammetric technique.

Key Words: mechanism analysis • parallel manipulators • backlash • mechanism precision • spatial kinematic chains • robot hands

The International Journal of Robotics Research, Vol. 18, No. 8, 845-858 (1999)
DOI: 10.1177/02783649922066600
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?