Accuracy analysis of spatial multi-loop mechanism effected by paired bearings support joint clearance

The primary objective of this work is to present a three-dimensional (3D) clearance model of the paired bearings support joint (PBS-joint) and address the influence of PBS-joint clearance on the accuracy of the spatial multi-loop mechanism. Through the synthetic use of the vector and homogeneous coordinate transformation methods, the 3D clearance model of the PBS-joint is obtained on the basis of the static balance condition. When clearance is equated as a spatial virtual link, the error space solution models of serial mechanism and single-loop mechanism are developed respectively according to the Denavit-Hartenberg method and the geometric closure condition. The error space standardization solution model of the multi-loop mechanism is then presented through improving the low-layer loop sequence description method of the topological structure relations. Finally, the application in the basic loop mechanism is demonstrated to discuss the procedures adopted in this work and the influence of the PBS-joint clearance. Results show that the PBS-joint clearance may cause the error on the point with a 3D deviation transmission path to deviate the normal distribution. Moreover, the plane-joint clearance model may not yield an accurate analysis of the spatial mechanism.

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