Effect of Gear Backlash on Positioning Precision of Manipulator End-effectors

doi:10.3969/j.issn.1000-1093.2014.08.025

Abstract

Abstract: The probability of that the positioning error of the end-effectors in a manipulator with gear backlash meets the desired accuracy is studied. The advantages and disadvantages of existing gear backlash models are analyzed, and a random variable model of gear backlash is presented based on the improvement of one of the models. A random model of positioning errors of the manipulator end-effectors is derived by taking the random variable model as angular displacement errors of 3-joint manipulator. A simplified model expressed by a quadratic function of angular displacement errors is obtained by approximating the random model with Taylor's formula. The maximum and minimum of the positioning error in joint space are discussed as well. The probability of that the positioning error of the manipulator end-effectors meets the desired accuracy is presented according to four cases, which provides basis for route planning and task optimization in multi-phase mission system.

Key words: spacecraft structure and design, manipulator, joint, gear backlash, positioning error

CLC Number:

TP241.3

AN Kai. Effect of Gear Backlash on Positioning Precision of Manipulator End-effectors[J]. Acta Armamentarii, 2014, 35(8): 1301-1307.

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