Abstract
Joint clearance is a main cause of generating positioning error in industry robot and the low repeatability and uncertainty make it difficult to compensate. This paper mainly focus on SCARA robot and study the effect of revolute joint clearance in positioning accuracy. First, the positioning error model in XOY plane related to joint clearance is set up and analysis to obtain the extreme error value is made. Then a combined idea to study the joint clearance is presented. From this way, the seemingly random clearance error vector can be predicted by some rough deciding factors. Therefore, if the distribution pattern of clearance vector and the rough decided value are obtained, a compensation is possible. Finally, the Ball-Bar was applied to carry out experiment for invalidation and further correction. From the experiment, some patterns are obtained and show that the clearance is indeed rough decided by some factors.
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