Author
Listed:
- Wenhua Ding
- Mingjian Yang
- Mian Jiang
- Mu Chai
- Guiming Liang
Abstract
The existence of clearance in the joint causes positional deviation and reduces the accuracy of robotics, in which nonlinear factors such as friction and lubrication inside the joint seriously affect its dynamic behaviors. On the other hand, the effectiveness of control algorithms is largely dependent on the dynamic complexity of the robotics, while its complexity analysis is an important prerequisite for achieving high-performance control. In this paper, we provide a method for analyzing the dynamic complexity of a planar manipulator with clearance and lubrication in joints based on a nonlinearity measure. The influences of joint parameters such as friction coefficient, lubricant viscosity, and gap radius are quantified on the dynamic complexity of the kinetics, which can identify the collision state of the joints effectively in the robot’s motion. First, a dynamical model of a planar manipulator is established by integrating the contact-separation model and the force model at the joint, and a method for calculating the dynamic complexity based on the nonlinearity measure is proposed. Second, the effects of different joint parameters on the dynamic behaviors of the robotic system are analyzed, and the relationships between the lubricant viscosity, gap radius, and the dynamic complexity under different friction coefficients are established to analyze the impacts of the joint parameters on the dynamic complexities. The results show that the dynamic complexity of the robotic system can be decreased significantly by using the small gap radius and high viscosity of the lubricant, which can help to realize the better control performance. Especially, this method is more sensitive to state changes such as the collision state of the joint relative to the sample entropy method.
Suggested Citation
Wenhua Ding & Mingjian Yang & Mian Jiang & Mu Chai & Guiming Liang, 2025.
"A New Approach of Dynamic Complexity Analysis for a Planar Manipulator With Clearance and Lubrication in Joint,"
Complexity, Hindawi, vol. 2025, pages 1-21, April.
Handle:
RePEc:hin:complx:2238719
DOI: 10.1155/cplx/2238719
Download full text from publisher
Corrections
All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:complx:2238719. See general information about how to correct material in RePEc.
If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.
We have no bibliographic references for this item. You can help adding them by using this form .
If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.
For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .
Please note that corrections may take a couple of weeks to filter through
the various RePEc services.