A comparative study of planar 3-RRR and 4-RRR mechanisms with joint clearances
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- 作者：Xuchong Zhang ; Xianmin Zhang ; zhangxm@scut.edu.cn" class="auth_mail" title="E-mail the corresponding author
- 关键词：Comparative study ; Kinematics ; Dynamics ; Joint clearances ; 3-RRR ; 4-RRR
- 刊名：Robotics and Computer-Integrated Manufacturing
- 出版年：2016
- 出版时间：August 2016
- 年：2016
- 卷：40
- 期：Complete
- 页码：24-33
- 全文大小：3394 K
文摘
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The redundant and regular planar 3DOF mechanisms with joint clearances are compared.
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Clearances influence the kinematics and dynamics of mechanisms significantly.
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The redundant mechanism shows better performance than the non-redundant one.