Positional error analysis of 3-RPR planar parallel manipulator under the influence of tolerances

被引：2
|
作者：
Barai, Sidhant [1 ]
Jaiswal, Ankur [1 ]
Lochan, Kshetrimayum [2 ]
机构：
[1] Manipal Acad Higher Educ MAHE, Manipal Inst Technol, Dept Mechatron, Manipal 576104, Karnataka, India
[2] IIT Palakkad Technol IHub Fdn, Indian Inst Technol, Palakkad, India
来源：
MATERIALS TODAY-PROCEEDINGS | 2022年 / 62卷
关键词：
Link-tolerance; Positional error; Geometrical approach; CAD model approach; Validation; SINGULARITY-FREE ZONES; MECHANISMS; WORKSPACE; ACCURACY; DESIGN;
D O I：
10.1016/j.matpr.2022.02.412
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The positional error analysis of the 3-RPR (R-Revolute, P-Prismatic) planar parallel manipulator under the effect of link tolerances is presented. In this research, a new mathematical model is derived to analyse the effect of tolerances on the position of the end-effector of a 3-RPR planar parallel manipulator. The obtained results are verified by CAD model approach. The proposed approach is applied for different positions of the end effector in the linear actuator limit. Different combinations of tolerances are considered, and an effort is made to estimate the maximum error that occurred by varying the input displacement.Copyright (c) 2022 Elsevier Ltd. All rights reserved.Selection and peer-review under responsibility of the scientific committee of the International Conference on Recent Advances in Modeling and Simulations Techniques in Engineering and Science.
引用
收藏
页码：1526 / 1531
页数：6
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