Investigation of Positional Error in P3R Mechanism with Joint Clearance

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

doi:10.1109/IBSSC53889.2021.9673441

Investigation of Positional Error in P3R Mechanism with Joint Clearance

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

Department of Mechatronics Engineering, Manipal Institute of Technology, Manipal

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2021 IEEE Bombay Section Signature Conference, IBSSC 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665417587
DOIs	https://doi.org/10.1109/IBSSC53889.2021.9673441
Publication status	Published - 2021
Event	3rd IEEE Bombay Section Signature Conference, IBSSC 2021 - Gwalior, India Duration: 18-11-2021 → 20-11-2021

Publication series

Name	2021 IEEE Bombay Section Signature Conference, IBSSC 2021

Conference

Conference	3rd IEEE Bombay Section Signature Conference, IBSSC 2021
Country/Territory	India
City	Gwalior
Period	18-11-21 → 20-11-21

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

Access to Document

10.1109/IBSSC53889.2021.9673441

Cite this

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title = "Investigation of Positional Error in P3R Mechanism with Joint Clearance",

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.",

author = "U. Harikrishnan and Ankur Jaiswal and Jawale, {H. P.}",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 3rd IEEE Bombay Section Signature Conference, IBSSC 2021 ; Conference date: 18-11-2021 Through 20-11-2021",

year = "2021",

doi = "10.1109/IBSSC53889.2021.9673441",

language = "English",

series = "2021 IEEE Bombay Section Signature Conference, IBSSC 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2021 IEEE Bombay Section Signature Conference, IBSSC 2021",

address = "United States",

}

Harikrishnan, U, Jaiswal, A & Jawale, HP 2021, Investigation of Positional Error in P3R Mechanism with Joint Clearance. in 2021 IEEE Bombay Section Signature Conference, IBSSC 2021. 2021 IEEE Bombay Section Signature Conference, IBSSC 2021, Institute of Electrical and Electronics Engineers Inc., 3rd IEEE Bombay Section Signature Conference, IBSSC 2021, Gwalior, India, 18-11-21. https://doi.org/10.1109/IBSSC53889.2021.9673441

Investigation of Positional Error in P3R Mechanism with Joint Clearance. / Harikrishnan, U.; Jaiswal, Ankur; Jawale, H. P.
2021 IEEE Bombay Section Signature Conference, IBSSC 2021. Institute of Electrical and Electronics Engineers Inc., 2021. (2021 IEEE Bombay Section Signature Conference, IBSSC 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Investigation of Positional Error in P3R Mechanism with Joint Clearance

AU - Harikrishnan, U.

AU - Jaiswal, Ankur

AU - Jawale, H. P.

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.

UR - http://www.scopus.com/inward/record.url?scp=85125066354&partnerID=8YFLogxK

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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 -

Investigation of Positional Error in P3R Mechanism with Joint Clearance

Abstract

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All Science Journal Classification (ASJC) codes

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