Assessing position error due to clearances and deformations of links in parallel manipulators (Record no. 21099)
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| 000 -LEADER | |
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| fixed length control field | a |
| 003 - CONTROL NUMBER IDENTIFIER | |
| control field | OSt |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20240530094123.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 240530b xxu||||| |||| 00| 0 eng d |
| 040 ## - CATALOGING SOURCE | |
| Original cataloging agency | AIKTC-KRRC |
| Transcribing agency | AIKTC-KRRC |
| 100 ## - MAIN ENTRY--PERSONAL NAME | |
| 9 (RLIN) | 23522 |
| Author | Aginaga, Jokin |
| 245 ## - TITLE STATEMENT | |
| Title | Assessing position error due to clearances and deformations of links in parallel manipulators |
| 250 ## - EDITION STATEMENT | |
| Volume, Issue number | Vol.135(4), Apr |
| 260 ## - PUBLICATION, DISTRIBUTION, ETC. | |
| Place of publication, distribution, etc. | Ney York |
| Name of publisher, distributor, etc. | ASME |
| Year | 2013 |
| 300 ## - PHYSICAL DESCRIPTION | |
| Pagination | 1-8p. |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc. | Two of the main sources of position error in parallel manipulators are clearances at joints and elastic deformations of the links. The former are usually necessary in order to produce a smooth movement between the pin and the hub of a joint. The latter are unavoidable and they tend to be greater in manipulators designed for pick-and-place tasks due to the need of light links. It can be stated that the end-effector pose error depends on the mechanism configuration, the applied external wrenches, the nature and magnitude of clearances, and the rigidity of the mechanical components. This paper proposes a procedure to calculate position error in parallel manipulators due to both clearances and elastic deformations. Although the procedure is applicable to any planar or spatial parallel manipulator, a planar 5R mechanism is used as an illustrative example in order to make it easier to understand. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| 9 (RLIN) | 4626 |
| Topical term or geographic name entry element | Mechanical Engineering |
| 700 ## - ADDED ENTRY--PERSONAL NAME | |
| 9 (RLIN) | 23523 |
| Co-Author | Altuzarra, Oscar |
| 773 0# - HOST ITEM ENTRY | |
| Title | Journal of mechanical design |
| Place, publisher, and date of publication | New York ASME |
| 856 ## - ELECTRONIC LOCATION AND ACCESS | |
| URL | https://asmedigitalcollection.asme.org/mechanicaldesign/article-abstract/135/4/041006/375673/Assessing-Position-Error-Due-to-Clearances-and?redirectedFrom=fulltext |
| Link text | Click here |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Source of classification or shelving scheme | Dewey Decimal Classification |
| Koha item type | Articles Abstract Database |
| Withdrawn status | Lost status | Source of classification or shelving scheme | Damaged status | Not for loan | Home library | Current library | Shelving location | Date acquired | Total Checkouts | Barcode | Date last seen | Price effective from | Koha item type |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Dewey Decimal Classification | School of Engineering & Technology | School of Engineering & Technology | Archieval Section | 30/05/2024 | 2024-0667 | 30/05/2024 | 30/05/2024 | Articles Abstract Database |