Analysis of the Effect of Clearance in Spherical Joints on the Rotation Accuracy of Parallel Type Micro-Robotic Systems
Michael Pumphrey,Mahmoud Al-Tamimi,Aylar Abouzarkhanifard,Mohammad Al Janaideh,Stéphane Régnier,Mokrane Boudaoud,Michael Pumphrey,Mahmoud Al-Tamimi,Aylar Abouzarkhanifard,Mohammad Al Janaideh,Stéphane Régnier,Mokrane Boudaoud
The spherical joint is an effective solution to design parallel micro-robotic systems with rotation capabilities in the three-dimensional space. This type of joint has however some non-linear characteristics, such as the clearance, which affect the positioning accuracy in micro-robotic tasks. The starting point of this study lies in experimental observations of rotation errors from a 3-PPPS 6-DOF ...
