Comparative study of mechanical error in P3R and 4R manipulators

Ankur Jaiswal, H. P. Jawale

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This article incorporates formulation and application for the varying position of output link of P3R and 4R manipulator configuration and estimation of mechanical error. The behavior of the output link is analyzed for linear and rotary inputs for both the type of configurations. The variation in link tolerance is introduced as input for estimating the mechanical error for P3R and 4R manipulator with the derived formula. Comparison of the errors provides the basis of selecting the best manipulator with the minimum mechanical error. Sample case is illustrated for the identical operational features in these P3R and 4R manipulators and the performance of these manipulators is quantified in this paper. The methodology is successful in considering the effect of source of mechanical errors in general; the proposed methodology is going to be helpful for the analysis of spatial and parallel manipulator.

Original languageEnglish
Title of host publication40th Mechanisms and Robotics Conference
PublisherThe American Society of Mechanical Engineers(ASME)
ISBN (Electronic)9780791850169
DOIs
Publication statusPublished - 2016
EventASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 - Charlotte, United States
Duration: 21-08-201624-08-2016

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5B-2016

Conference

ConferenceASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
Country/TerritoryUnited States
CityCharlotte
Period21-08-1624-08-16

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

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