Tajaril, Mohammad Javad, Pedrammehr, Siamak, Chalak Qazani, Mohamad Reza, and Nategh, Mohammad Javad (2017) The effects of joint clearance on the kinematic error of the hexapod tables. In: Proceedings of the 5th RSI International Conference on Robotics and Mechatronics. pp. 39-44. From: IcRoM 2017: 5th RSI International Conference on Robotics and Mechatronics, 25-27 October 2017, Tehran, Iran.

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Abstract

Clearance in spherical joints of a hexapod table is useful for decreasing the sensitivity of the table to manufacturing inaccuracies. However, such clearance affects the kinematic accuracy of the table and other adverse effects such as noise and vibration. The present paper investigates the influence of clearance in the spherical joints on the kinematics error in positioning and orientating of the table. A mathematical model for the relationship between the clearance in the spherical joints on the motion error of the table is derived. Numerical analysis of the error model is performed and experimental tests validate the proposed model.

Item ID:	87044
Item Type:	Conference Item (Research - E1)
ISBN:	978-1-5386-5703-4
Copyright Information:	© 2017 IEEE
Date Deposited:	28 Oct 2025 00:35
FoR Codes:	40 ENGINEERING > 4014 Manufacturing engineering > 401405 Machine tools @ 40% 40 ENGINEERING > 4014 Manufacturing engineering > 401412 Precision engineering @ 60%
SEO Codes:	24 MANUFACTURING > 2412 Machinery and equipment > 241204 Industrial machinery and equipment @ 100%
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