Dynamics Analysis of Spatial Parallel Mechanism with Irregular Spherical Joint Clearance

Figure 10

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

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