A Probability Way on Kinematic Positioning Error of Manipulator Caused by Joint Clearance

  • Huimin DongEmail author
  • Shangkun Xu
  • Changyu Xu
  • Delun Wang
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper builds a kinematic model for the end-effector positioning error of manipulator with account of joint clearance and then presents a probabilistic approach for evaluating the error characteristics. This probabilistic approach, in which the Monte Carlo simulation is applied, can not only obtain the maximum deviation of the positioning error but also get the error distribution and its numerical features. Then comprehensive approach coupled with the deterministic way and the probability way is proposed to give a better consideration for both the main influence factors and other uncertain items. Case study illustrates the probability evaluation method. The work will provide a new approach for industrial robot design, which takes the accuracy and manufacturing cost into account.


joint clearance probabilistic approach end positioning error industrial robot 


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This work was supported by the National Natural Science Foundation of China (No. U1808213).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Huimin Dong
    • 1
    Email author
  • Shangkun Xu
    • 1
  • Changyu Xu
    • 1
  • Delun Wang
    • 1
  1. 1.School of Mechanical EngineeringDalian University of TechnologyDalianChina

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