Investigation of Positional Error in P3R Mechanism with Joint Clearance

U. Harikrishnan, Ankur Jaiswal, H. P. Jawale

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

Abstract

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.

Original languageEnglish
Title of host publication2021 IEEE Bombay Section Signature Conference, IBSSC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665417587
DOIs
Publication statusPublished - 2021
Event3rd IEEE Bombay Section Signature Conference, IBSSC 2021 - Gwalior, India
Duration: 18-11-202120-11-2021

Publication series

Name2021 IEEE Bombay Section Signature Conference, IBSSC 2021

Conference

Conference3rd IEEE Bombay Section Signature Conference, IBSSC 2021
Country/TerritoryIndia
CityGwalior
Period18-11-2120-11-21

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Computer Science Applications
  • Hardware and Architecture
  • Safety, Risk, Reliability and Quality
  • Artificial Intelligence
  • Computer Graphics and Computer-Aided Design

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