Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
PLANAR 5R SYMMETRICAL PARALLEL MECHANISM SUBJECTED TO CLEARANCES
Submission Author:
Fabian Andres Lara-Molina , MG , Brazil
Co-Authors:
Fabian Andres Lara-Molina, Edson Hideki Koroishi, Alexandre Policarpo, Valder Steffen Jr
Presenter: Fabian Andres Lara-Molina
doi://10.26678/ABCM.COBEM2019.COB2019-0108
Abstract
Clearances on the active and passive joints of parallel mechanisms degrade their kinematic positioning accuracy. This contribution aims at analyzing the effect of clearances on the kinematics of the 5R symmetrical parallel mechanism by using numerical simulation. Initially, the complete kinematic model of the mechanism is formulated by considering the clearances with uncertainties that are modeled as random variables. The forward kinematic with the clearances and uncertainties are computed by using the Monte Carlo Method. Finally, the kinematic accuracy is evaluated for several poses within the workspace by considering different link lengths of the mechanism.
Keywords
Parallel Mechanism, Kinematics, Uncertainties, Random Variables, clearances
