TY - GEN
T1 - Comparative study of mechanical error in P3R and 4R manipulators
AU - Jaiswal, Ankur
AU - Jawale, H. P.
N1 - Publisher Copyright:
© Copyright 2016 by ASME.
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85007572146
UR - https://www.scopus.com/pages/publications/85007572146#tab=citedBy
U2 - 10.1115/DETC2016-60057
DO - 10.1115/DETC2016-60057
M3 - Conference contribution
AN - SCOPUS:85007572146
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 40th Mechanisms and Robotics Conference
PB - The American Society of Mechanical Engineers(ASME)
T2 - ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
Y2 - 21 August 2016 through 24 August 2016
ER -