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- W2024991325 abstract "A model for angular errors in multi-loop structures with joint clearances is established. A closed-form solution of the model is obtained. By using optimization methods and geometric methods, the boundaries of the studied angular errors are determined with reduced computation complexity. In a single loop, the same size joint clearances have identical contributions to the angular error; while in the proposed multi-loop design, the position of the multiple-joint also affects the angular error greatly. The probability density functions (pdfs) of the stated closed-loop errors are also analyzed based on the open loop manipulator. The functions approach being Gaussian distributions if there are many joint clearances. A simple method is presented to evaluate the average and the variance of the pdfs. The method is verified by Monte Carlo simulations." @default.
- W2024991325 created "2016-06-24" @default.
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- W2024991325 date "2015-09-01" @default.
- W2024991325 modified "2023-10-18" @default.
- W2024991325 title "Analysis of angular-error uncertainty in planar multiple-loop structures with joint clearances" @default.
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- W2024991325 doi "https://doi.org/10.1016/j.mechmachtheory.2015.04.005" @default.
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