Analysis of influence of joint clearances on motion precision of paper-transferring grippers
Zhuming Zhang · Journal of Tsinghua University(Science and Technology) · 2000
Joint clearances have an important effect on the motion precision of paper transferring grippers. The relationship between joint clearances and motion precision of paper transferring grippers was derived by assuming that the forces on the joints were continuous, the finite difference method was then used to solve the equations. Larger joint clearances result in larger displacement errors in the paper transferring grippers. Increasing the machine speed increases the influence of joint clearances on the motion precision of the paper transferring grippers. Only if the joint clearances are limited to within 0.02mm can the displacement error of the paper transferring grippers be controlled to within 0.1mm. To improve the motion precision of the paper transferring grippers, cushions can be added to eliminate the displacement errors in the paper transferring grippers caused by the joint clearances.