The positional errors due to clearances in journal bearings intended to approximate revolute joints are analyzed. Equations are presented which relate joint geometry, external loads, and errors. The paper treats the case common in serial chain manipulators where the revolute joint’s nominal rotational angle is controlled, and it is desired to determine the errors that result from the clearances.
Issue Section:Mechanisms Papers
Topics:Errors, Journal bearings, Chain, Geometry, Manipulators, Stress
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