Tolerance Analysis of Parallel Mechanism with Link Dimension Deviation and Joint Clearance

摘要

Tolerance analysis of a planar 5R parallel mechanism with link dimension deviation and joint clearance are performed under the hypothesis of small displacements and clearance link. The influences of different link dimension deviations are derived by the linearization of kinematic equations, and the influences of clearance link at active/passive joints are transformed to a mechanism reachability problem and derived individually. The geometric behaviors of link dimension deviations and joint clearances are studied and compared by a numerical example. All these above provide the basis of the accuracy design theory for new parallel mechanisms.