Dynamics Analysis of Spatial Parallel Mechanism with Irregular Spherical Joint Clearance

Figure 11

Comparison of velocity curves before and after wear. (a) Velocity curve in X direction, (b) enlarged view of velocity curve in X direction, (c) velocity curve in Y direction, (d) enlarged view of velocity curve in Y direction, (e) velocity curve in Z direction, (f) enlarged view of velocity curve in Z direction, (g) angular velocity curve in direction, (h) enlarged view of angular velocity curve in direction, (i) angular velocity curve in direction, and (j) enlarged view of angular velocity curve in direction.

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