Erratum: “Dynamic Analysis of 4-SPS/CU Parallel Mechanism Considering
                    Three-Dimensional Wear of Spherical Joint With Clearance” [ASME J. Tribol.,
                    2016, 139(2), p. 021608; DOI: 10.1115/1.4034763]

Wang, Gengxiang; Liu, Hongzhao; Deng, Peisheng; Yin, Kaiming; Zhang, Guanggang

doi:10.1115/1.4035888

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Erratum: “Dynamic Analysis of 4-SPS/CU Parallel Mechanism Considering Three-Dimensional Wear of Spherical Joint With Clearance” [ASME J. Tribol., 2016, 139(2), p. 021608; DOI: 10.1115/1.4034763]

Gengxiang Wang,

Gengxiang Wang

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, P.O. Box 373, Xi'an, Shaanxi 710048, China e-mail: wanggengxiang27@163.com

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Hongzhao Liu,

Hongzhao Liu

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, P.O. Box 373, Xi'an, Shaanxi 710048, China e-mail: liu-hongzhao@163.com

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Peisheng Deng,

Peisheng Deng

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, P.O. Box 373, Xi'an, Shaanxi 710048, China e-mail: dengpeisheng2009@163.com

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Kaiming Yin,

Kaiming Yin

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, P.O. Box 373, Xi'an, Shaanxi 710048, China e-mail: jackberlin@126.com

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Guanggang Zhang

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, P.O. Box 373, Xi'an, Shaanxi 710048, China e-mail: zhggsdut@163.com

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Author and Article Information

Gengxiang Wang

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, P.O. Box 373, Xi'an, Shaanxi 710048, China e-mail: wanggengxiang27@163.com

Hongzhao Liu

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, P.O. Box 373, Xi'an, Shaanxi 710048, China e-mail: liu-hongzhao@163.com

Peisheng Deng

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, P.O. Box 373, Xi'an, Shaanxi 710048, China e-mail: dengpeisheng2009@163.com

Kaiming Yin

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, P.O. Box 373, Xi'an, Shaanxi 710048, China e-mail: jackberlin@126.com

Guanggang Zhang

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, P.O. Box 373, Xi'an, Shaanxi 710048, China e-mail: zhggsdut@163.com

J. Tribol. Sep 2017, 139(5): 057003 (1 pages)

Paper No: TRIB-17-1034 https://doi.org/10.1115/1.4035888

Published Online: May 24, 2017

\begin{matrix} \dot{n} = \frac{1}{e} [{\dot{r}}_{1} + {\dot{R}}_{1} s_{b_{1}}^{1} - {\dot{r}}_{6} - {\dot{R}}_{6} s_{A_{1}}^{6}] = \frac{1}{e} [{\dot{r}}_{1} + R_{1} ({\bar{ω}}_{1} \times s_{b_{1}}^{1}) - {\dot{r}}_{6} - R_{6} ({\bar{ω}}_{6} \times s_{A_{1}}^{6})] \end{matrix}

(6a)

F_{x} = F_{N} sin θ_{z} sin θ_{y} + F_{t} cos θ_{z} cos θ_{y}

(28)

ω = a r cos \frac{l_{z} l_{6 z}}{l_{z} \cdot l_{6 z}}, l_{6 z} = R_{6} {[\begin{matrix} 0 & 0 & z \end{matrix}]}^{T}

(42)

The unit in Figs. 15, 17, and 19 should be meters (m) and in Figs. 16 and 18 should be millimeters (mm).

Erratum: “Dynamic Analysis of 4-SPS/CU Parallel Mechanism Considering Three-Dimensional Wear of Spherical Joint With Clearance” [ASME J. Tribol., 2016, 139(2), p. 021608; DOI: 10.1115/1.4034763]

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Erratum: “Dynamic Analysis of 4-SPS/CU Parallel Mechanism Considering Three-Dimensional Wear of Spherical Joint With Clearance” [ASME J. Tribol., 2016, 139(2), p. 021608; DOI: 10.1115/1.4034763]

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