Kinematic sensitivity analysis of linkage with joint clearance based on transmission quality

2004 ◽  
Vol 39 (11) ◽  
pp. 1189-1206 ◽  
Author(s):  
Ming-June Tsai ◽  
Tien-Hsing Lai
Keyword(s):  
Sensitivity Analysis ◽  
Joint Clearance ◽  
Transmission Quality ◽  
Kinematic Sensitivity

Kinematic sensitivity analysis of a novel micro-mechanism for displacement amplification

2018 ◽  
Vol 42 (4) ◽  
pp. 436-443 ◽  
Author(s):  
Sohail Iqbal ◽  
Afzaal Malik ◽  
Rana I Shakoor
Keyword(s):  
Sensitivity Analysis ◽  
Finite Element ◽  
Modal Analysis ◽  
Geometric Parameters ◽  
Small Displacement ◽  
Extended Finite Element ◽  
Dynamic Simulations ◽  
Element Analysis ◽  
Amplification Mechanism ◽  
Kinematic Sensitivity

This research article presents the design and analysis of a displacement amplification mechanism based on a microelectromechanical system (MEMS). The mechanism, compared to generic displacement mechanisms, is smaller and capable of amplifying input displacement by a factor of 6.8. Finite element analysis (FEA) is performed with commercial software Intellisuite using the extended finite element method (XFEM) technique to verify the analytical results from mathematical models. Kinematic response and kinematic sensitivity analysis of the amplification mechanism are computationally carried out to predict the effect of different geometric parameters on the performance of the proposed mechanism. The analysis predicts that length and angle of flexure are the two key geometric parameters significantly affecting the amplification factor (AF), with length having a direct relationship and angle of flexure having an inverse relationship. A significant increase in the AF is seen for a flexure length up to 550 μm and angle below 5°. Based on the sensitivity analysis, the design is optimized, and geometric parameters are finalized. Modal analysis and dynamic simulations, including direct-integration transient and steady-state modal analysis, are performed on the mechanism under the application of 25 g. The mechanism can be integrated with any conventional actuating mechanism in a microsystem where the amplification of a small displacement at the output is desired.

Kinematic sensitivity analysis of the 3-UPU parallel mechanism

2002 ◽  
Vol 37 (8) ◽  
pp. 787-798 ◽  
Author(s):  
Chanhee Han ◽  
Jinwook Kim ◽  
Jongwon Kim ◽  
Frank Chongwoo Park
Keyword(s):  
Sensitivity Analysis ◽  
Parallel Mechanism ◽  
Kinematic Sensitivity

A New Parameter for Transmission Quality and Output Sensitivity Analysis of Mechanisms

1992 ◽  
Author(s):  
Fubang Wu ◽  
H. M. Lankarani
Keyword(s):  
Sensitivity Analysis ◽  
Jacobian Matrix ◽  
Direct Differentiation ◽  
Transmission Angle ◽  
Transmission Quality ◽  
Complex Mechanisms

Abstract A Transmission Merit Parameter (TMP) is defined in this paper which comprehensively reflects the transmission quality and output sensitivity of a mechanism to its dimensional disturbance. The TMP is derived from direct differentiation of the independent relationships among the coordinates in the form of the determinant of the constrain Jacobian matrix. It is shown that the idea of TMP is the extension of conventional transmission angle and without a measure such as TMP, representation of the transmission quality for complex mechanisms would be a difficult task.

Study of error compensations and sensitivity analysis for 6-Dof serial robot

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Xi Luo ◽  
Yingjie Zhang ◽  
Lin Zhang
Keyword(s):  
Sensitivity Analysis ◽  
Error Compensation ◽  
Error Model ◽  
Error Modeling ◽  
Compensation Method ◽  
Joint Clearance ◽  
Positioning Accuracy ◽  
Content Type ◽  
Model Based ◽  
Serial Robot

Purpose The purpose of this paper is to improve the positioning accuracy of 6-Dof serial robot by the way of error compensation and sensitivity analysis. Design/methodology/approach In this paper, the Denavit–Hartenberg matrix is used to construct the kinematics models of the robot; the effects from individual joint and several joints on the end effector are estimated by simulation. Then, an error model based on joint clearance is proposed so that the positioning accuracy at any position of joints can be predicted for compensation. Through the simulation of the curve path, the validity of the error compensation model is verified. Finally, the experimental results show that the error compensation method can improve the positioning accuracy of a two joint exoskeleton robot by nearly 76.46%. Findings Through the analysis of joint error sensitivity, it is found that the first three joints, especially joint 2, contribute a lot to the positioning accuracy of the robot, which provides guidance for the accuracy allocation of the robot. In addition, this paper creatively puts forward the error model based on joint clearance, and the error compensation method which decouples the positioning accuracy into joint errors. Originality/value It provides a new idea for error modeling and error compensation of 6-Dof serial robot. Combining sensitivity analysis results with error compensation can effectively improve the positioning accuracy of the robot, and provide convenience for welding robot and other robots that need high positioning accuracy.

scholarly journals Robust Optimization of Planar Constrained Mechanical System with Varying Joint Clearance Size Based on Sensitivity Analysis

2020 ◽  
Vol 2020 ◽  
pp. 1-21
Author(s):  
Yong Gao ◽  
Fang Zhang ◽  
Yuanyuan Li
Keyword(s):  
Sensitivity Analysis ◽  
Robust Optimization ◽  
Objective Function ◽  
Contact Force ◽  
Joint Clearance ◽  
Force Model ◽  
Random Parameters ◽  
Clearance Joints ◽  
Multiobjective Particle Swarm Optimization ◽  
Joint Clearances

This paper is devoted to a general methodological study on sensitivity analysis and robust optimization for a planar crank-slider mechanism in presence of joint clearances and random parameters and investigate the effects of parameter uncertainty on optimization results when joint clearance sizes are constantly changing due to wear. The first-order sensitivity analysis based on the response surface proxy model is performed. Then, a multiobjective robust optimization algorithm based on sensitivity analysis is carried out to reduce the undesirable effects of joint clearances and random parameters. In the algorithm, a multiobjective robust optimization model derived from the mean and variance of the objective function is constructed. Here, the objective function is defined based on the consideration of reducing the contact force generated at all clearance joints. Additionally, in order to balance computational accuracy and efficiency in the multiobjective robust optimization process, high-precision Kriging agent models are established. The optimum values of design variables are determined by combining Monte Carlo sampling and multiobjective particle swarm optimization method. By combining the Baumgarte approach with Lankarani–Nikravesh contact force model and Coulomb friction model, the dynamic equations of the planar multibody system with clearance joints are established. The uniform probability distribution is applied for characterizing random parameters. Simulation results show that the influence of design variable variations on the objective function changes in relation to the joint clearance size, but their relative influence degree on the objective function will not vary with the size of joint clearances. Moreover, the optimal solution selected on the Pareto front will affect the average levels and peak fluctuations of the dynamic responses in multibody systems.

scholarly journals Kinematic sensitivity analysis of manipulators using a novel dimensionless index

2022 ◽  
pp. 104021
Author(s):  
Allaoua Brahmia ◽  
Ridha Kelaiaia ◽  
Olivier Company ◽  
Ahmed Chemori
Keyword(s):  
Sensitivity Analysis ◽  
Kinematic Sensitivity
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