TY - GEN
T1 - Investigation of Positional Error in P3R Mechanism with Joint Clearance
AU - Harikrishnan, U.
AU - Jaiswal, Ankur
AU - Jawale, H. P.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - The role of mechanisms in robotics is pivotal in deciding the accuracy and working range of a particular robot. A planar closed loop, single degree of freedom (DoF) mechanism can be used in various machines. The main advantage of such mechanism is the single input that can control the complete mechanical movement. Position of the end effector in real time depends on various factors. A P3R mechanism has been considered in this paper. A detailed position and compensation analysis is carried out and the effect of joint clearances are considered. The orientation of input and output links under the effect of joint clearances and their deviation and errors are calculated. A mathematical computer model is developed to compute the positional and orientation error.
AB - The role of mechanisms in robotics is pivotal in deciding the accuracy and working range of a particular robot. A planar closed loop, single degree of freedom (DoF) mechanism can be used in various machines. The main advantage of such mechanism is the single input that can control the complete mechanical movement. Position of the end effector in real time depends on various factors. A P3R mechanism has been considered in this paper. A detailed position and compensation analysis is carried out and the effect of joint clearances are considered. The orientation of input and output links under the effect of joint clearances and their deviation and errors are calculated. A mathematical computer model is developed to compute the positional and orientation error.
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U2 - 10.1109/IBSSC53889.2021.9673441
DO - 10.1109/IBSSC53889.2021.9673441
M3 - Conference contribution
AN - SCOPUS:85125066354
T3 - 2021 IEEE Bombay Section Signature Conference, IBSSC 2021
BT - 2021 IEEE Bombay Section Signature Conference, IBSSC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE Bombay Section Signature Conference, IBSSC 2021
Y2 - 18 November 2021 through 20 November 2021
ER -